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without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple vertical rod of the wooden assembly with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "goal", "start_step": 2595, "end_step": 2735, "id": "c3118c4a-39a0-4845-8591-6dbc50ed79a3"}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "goal", "start_step": 2736, "end_step": 2930, "id": "1e5fe2eb-aba3-4778-a158-94606eeb0b34"}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting table and wooden rack edge."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2901, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit the block onto the rod, making small positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2917, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: retreat: Right hand moves upward away from the assembled block on the purple rod, retreating from the immediate operation position."}, {"label": "subtasks", "start_step": 2925, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the wooden block rack toward the small white hexagonal block on the table, staying empty as it approaches until it is positioned just above the target block without contact."}, {"label": "goal", "start_step": 2931, "end_step": 3062, "id": "3c8e1a07-b93a-4d2a-acc3-d05dde16c0e9"}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers performing visible adjusting movements and closing around the block to establish a stable grip."}, {"label": "goal", "start_step": 3063, "end_step": 3245, "id": "6200fa79-9a67-4d6b-8217-b039b88bcc5d"}, {"label": "subtasks", "start_step": 3090, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white object off the table surface and transports it upward toward the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 3135, "end_step": 3231, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the small white object with the purple vertical rod on the block stack and fits the object onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the assembled white object, separating the hand from the object."}, {"label": "goal", "start_step": 3246, "end_step": 3365, "id": "9432bbfc-01ee-4811-b1ed-ac505be93955"}, {"label": "subtasks", "start_step": 3270, "end_step": 3321, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves down and right toward the green square block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 3322, "end_step": 3359, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 3360, "end_step": 3389, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward from the dark table surface."}, {"label": "goal", "start_step": 3366, "end_step": 3554, "id": "d3b46a66-8fd5-4a1a-9a38-48440aec82d2"}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand transports the lifted green block upward and leftward toward the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylindrical peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 3472, "end_step": 3539, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block stably on the white cylindrical peg without visible movement or adjustment."}, {"label": "subtasks", "start_step": 3540, "end_step": 3554, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to begin releasing the green block placed on the white cylindrical peg."}, {"label": "home", "start_step": 3596, "end_step": 3625, "id": "aYxFiIRlcDPEkyeaQmoVU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left resting position with fingers slightly extended. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 135, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block, adjusting finger contact points to form a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted green block horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 494, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, slides the block down along the peg, and makes small adjustments to position the block on the assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the leftmost purple rod of the wooden rack until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the front-left white hexagonal block on the dark table surface, with fingers open, approaching the target without contact."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block on the table, closes fingers around the block, and adjusts finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the front-left white hexagonal block steadily on the dark table surface without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block resting on the dark table surface, securing a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden peg board, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowers the block to fit it onto the peg above the existing green block."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds the green block with white top, aligns it with the purple peg on the wooden assembly base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward from the assembly base towards the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left white hexagonal block on the table, with slight finger movements to adjust contact points for grasping."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical component off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1537, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the grasped white cylindrical component with the purple rod on the wooden base and lowers it to fit onto the rod, adjusting position slightly to complete the assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white cylindrical component on the purple rod without any observable movement of the hand or the component."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds white cylindrical caps, aligns and fits them onto the tops of the vertical purple posts on the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward empty from above the wooden base toward the white hexagonal nut placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical object resting on the dark table surface near the wooden block assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the dark table surface, moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple vertical rod on the wooden assembly, lowers the object to fit it onto the rod, makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1868, "end_step": 1979, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object seated on the purple vertical rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to seat it on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens fingers to release the seated white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green block resting on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand moves the lifted green block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and slides the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, allowing the block to slide down the purple rod."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block to the purple peg on the wooden assembly board to complete the mating connection."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the mated green block, moves empty downwards toward the front white hexagonal block on the dark table surface without establishing contact with the block."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closes fingers around the block and adjusts wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the dark table surface, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward toward the wooden block assembly, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block slightly to fit it onto the rod to form the mated assembly."}, {"label": "subtasks", "start_step": 2505, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple vertical rod of the wooden assembly with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting table and wooden rack edge."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2901, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit the block onto the rod, making small positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2917, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: retreat: Right hand moves upward away from the assembled block on the purple rod, retreating from the immediate operation position."}, {"label": "subtasks", "start_step": 2925, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the wooden block rack toward the small white hexagonal block on the table, staying empty as it approaches until it is positioned just above the target block without contact."}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers performing visible adjusting movements and closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 3090, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white object off the table surface and transports it upward toward the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 3135, "end_step": 3231, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the small white object with the purple vertical rod on the block stack and fits the object onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the assembled white object, separating the hand from the object."}, {"label": "subtasks", "start_step": 3270, "end_step": 3321, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves down and right toward the green square block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 3322, "end_step": 3359, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 3360, "end_step": 3389, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward from the dark table surface."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand transports the lifted green block upward and leftward toward the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylindrical peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 3472, "end_step": 3539, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block stably on the white cylindrical peg without visible movement or adjustment."}, {"label": "subtasks", "start_step": 3540, "end_step": 3554, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to begin releasing the green block placed on the white cylindrical peg."}], "episode_index": 0}
+{"source_uid": "623e520a9afac0af", "num_frames": 3516, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand raises upward from the left lower position to the left upper position. | Right hand: other:raise_hand: Right hand raises upward from the right lower position to the right upper position."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "d29a9c0e-5b0f-4f78-8140-0e3ef7a80522"}, {"label": "valid", "start_step": 0, "end_step": 3485, "id": "IcPSJ_o8uSQG_VnihyrFm"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: idle: Right hand remains empty at the right upper position without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 199, "end_step": 558, "id": "1b3dc297-0cd4-4108-820c-f43235729413"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost vertical peg of the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block upward along the leftmost peg."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block downward along the leftmost peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the lower part of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 559, "end_step": 666, "id": "ec5b578b-2172-472d-a41a-1f1b3d0a4bdd"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 667, "end_step": 1152, "id": "3b24fc3f-2331-4633-8cf6-08050e08ba0f"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the support."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board, stopping above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, aligning the block's hole with the peg and lowering the block onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1153, "end_step": 1290, "id": "6287831a-10cd-4fa1-89f1-2a5be03ccf20"}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1291, "end_step": 1533, "id": "02ebcac8-46d8-472b-9db7-33394b4207c5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and backward to the position above the rightmost purple rod of the block rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward from the upper wooden rack area toward the white hexagonal block with a hole on the table, approaching the target block."}, {"label": "goal", "start_step": 1534, "end_step": 1671, "id": "390cf0e1-27b9-428d-be76-7abc10e1468d"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white perforated block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1672, "end_step": 1899, "id": "6a3b0a99-e6f8-4b54-af17-89805a5509a2"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white perforated block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white perforated block upward and toward the purple peg on the wooden board, stopping above the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple peg below and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press: Right hand presses the white perforated block downward along the purple peg to compact its position."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white perforated block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1900, "end_step": 2004, "id": "74dc4373-e363-4c9e-ad6d-1da8975c696f"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the green block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2005, "end_step": 2181, "id": "e501712e-7065-467e-a9f6-e1ca36c2810c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the green cube upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cube upward and rightward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the green cube with the target peg by aligning the cube's hole and moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cube fitted on the peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple vertical peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2182, "end_step": 2307, "id": "6e0cf4bf-d802-4ab5-a610-cc7058796f46"}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the upper working area."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "goal", "start_step": 2308, "end_step": 2529, "id": "4b9622aa-97c6-4106-b5ef-e76bd7531f47"}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and moves it upward to the position above the rack's peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white cubic block with the rack's vertical peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand gradually releases its grip on the white cubic block mounted on the peg."}, {"label": "goal", "start_step": 2530, "end_step": 2658, "id": "6a6d5cca-5e34-432b-9583-36ae84c2e798"}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2659, "end_step": 2850, "id": "00020272-ae26-4c86-84f9-79183484b532"}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack, moving it to the position above the purple rod."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod by opening fingers, then retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal object on the table, without touching the object."}, {"label": "goal", "start_step": 2851, "end_step": 3006, "id": "d6c199bc-69f7-4808-8c08-7426dbcc8c78"}, {"label": "subtasks", "start_step": 2910, "end_step": 2947, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2948, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3007, "end_step": 3144, "id": "b361aae4-8056-4482-b9fb-b7064ffa181a"}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward and backward toward the rack with white cylinders."}, {"label": "subtasks", "start_step": 3068, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal object with the target position on the rack, adjusting to align and fit it."}, {"label": "subtasks", "start_step": 3135, "end_step": 3157, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press_release: Right hand presses the purple rod down into the front-right bottle on the wooden base and releases its grip on the rod."}, {"label": "goal", "start_step": 3145, "end_step": 3249, "id": "77837630-d244-4e0a-a6a4-b99194b902cd"}, {"label": "subtasks", "start_step": 3158, "end_step": 3201, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves down-left towards the green cube on the workbench while keeping empty."}, {"label": "subtasks", "start_step": 3202, "end_step": 3269, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green cube on the workbench, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3250, "end_step": 3447, "id": "25344a1f-ff2a-4079-b47c-aa41e930fa0b"}, {"label": "subtasks", "start_step": 3270, "end_step": 3307, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts and transports the green cube from the table upward and leftward to the top of the rightmost white bottle with a purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 3308, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and presses it down to mate the cube onto the bottle."}, {"label": "home", "start_step": 3486, "end_step": 3515, "id": "xuV0tZFi1AEU6fMdYKrZc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand raises upward from the left lower position to the left upper position. | Right hand: other:raise_hand: Right hand raises upward from the right lower position to the right upper position."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: idle: Right hand remains empty at the right upper position without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost vertical peg of the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block upward along the leftmost peg."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block downward along the leftmost peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the lower part of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the support."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board, stopping above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, aligning the block's hole with the peg and lowering the block onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and backward to the position above the rightmost purple rod of the block rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward from the upper wooden rack area toward the white hexagonal block with a hole on the table, approaching the target block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white perforated block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white perforated block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white perforated block upward and toward the purple peg on the wooden board, stopping above the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple peg below and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press: Right hand presses the white perforated block downward along the purple peg to compact its position."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white perforated block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the green block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the green cube upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cube upward and rightward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the green cube with the target peg by aligning the cube's hole and moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cube fitted on the peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple vertical peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the upper working area."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and moves it upward to the position above the rack's peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white cubic block with the rack's vertical peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand gradually releases its grip on the white cubic block mounted on the peg."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack, moving it to the position above the purple rod."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod by opening fingers, then retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal object on the table, without touching the object."}, {"label": "subtasks", "start_step": 2910, "end_step": 2947, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2948, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward and backward toward the rack with white cylinders."}, {"label": "subtasks", "start_step": 3068, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal object with the target position on the rack, adjusting to align and fit it."}, {"label": "subtasks", "start_step": 3135, "end_step": 3157, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press_release: Right hand presses the purple rod down into the front-right bottle on the wooden base and releases its grip on the rod."}, {"label": "subtasks", "start_step": 3158, "end_step": 3201, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves down-left towards the green cube on the workbench while keeping empty."}, {"label": "subtasks", "start_step": 3202, "end_step": 3269, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green cube on the workbench, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3270, "end_step": 3307, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts and transports the green cube from the table upward and leftward to the top of the rightmost white bottle with a purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 3308, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and presses it down to mate the cube onto the bottle."}], "episode_index": 1}
+{"source_uid": "bc8b33168472cc51", "num_frames": 3733, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward with empty palm. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "goal", "start_step": 0, "end_step": 183, "id": "e13cb23d-fb04-4991-9a82-c4a640938435"}, {"label": "valid", "start_step": 0, "end_step": 3702, "id": "3nXPKhHvc187wEe8bWiC3"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 60, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and grasps the white block on the leftmost purple pillar, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 184, "end_step": 426, "id": "917c285a-e993-4657-8ee1-d46176150781"}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to fix its position."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers separating from the block."}, {"label": "goal", "start_step": 427, "end_step": 570, "id": "4bddcd50-7864-4836-a793-d27d9fade0d9"}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple pole of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 571, "end_step": 837, "id": "e75e86c3-cef5-4e46-88e4-725f08309eee"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 838, "end_step": 963, "id": "62c3af6e-350f-46c2-9178-ccd159c0a201"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 964, "end_step": 1164, "id": "3e72bcf4-87e5-4a26-aff0-7b68fe18d0ad"}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1020, "end_step": 1154, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack, adjusting to fully fit it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hollow cylinder on the black tabletop."}, {"label": "goal", "start_step": 1165, "end_step": 1299, "id": "5297b95b-d1a4-47d3-bfb4-261d5bf6850b"}, {"label": "subtasks", "start_step": 1230, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder on the black tabletop, with slight grip adjustment."}, {"label": "goal", "start_step": 1300, "end_step": 1482, "id": "927f2a88-1001-4de9-a409-bc133d2edfab"}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple post on the wooden base, pushing it down to fit."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple post without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1483, "end_step": 1599, "id": "8424258e-e113-4ef0-9e8f-9fd2e5704010"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1600, "end_step": 1779, "id": "89971134-61af-4688-9bd6-c20a28de2bb8"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple peg by aligning the block hole and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic block that has been fitted on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block assembly towards the green square block on the table."}, {"label": "goal", "start_step": 1780, "end_step": 1899, "id": "2bbfa739-944f-440d-a6eb-bc238daef3fb"}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1900, "end_step": 2088, "id": "74099d78-44d6-497c-a363-ea9cd3d69620"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 2089, "end_step": 2217, "id": "fbc8af7c-03e0-420e-bd8a-2363c5780391"}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closing fingers to adjust and form a stable grip."}, {"label": "goal", "start_step": 2218, "end_step": 2391, "id": "40fd5b76-3e32-4631-99cd-751f59779fd7"}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the purple cylindrical object into the top of the white bottle on the wooden rack."}, {"label": "goal", "start_step": 2392, "end_step": 2496, "id": "d8d1c43a-c8f6-447a-973c-f176592fa299"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal object and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2497, "end_step": 2808, "id": "e67764bb-280c-417b-bdbb-99d779b4155a"}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the white block towards the upper wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2804, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white block onto the empty peg of the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2864, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves empty towards the green cubic block placed on the table."}, {"label": "goal", "start_step": 2809, "end_step": 2931, "id": "63b181b7-7e40-43a5-b4cb-e84c742d5c1c"}, {"label": "subtasks", "start_step": 2865, "end_step": 2961, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2932, "end_step": 3666, "id": "cf02a377-ea52-48ca-9309-64ffc1ebb704"}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic object off the table and transports it to the position above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3015, "end_step": 3659, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic object with the protruding part of the white bottle, and makes repeated adjustments to insert the cube onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic object after it is properly fitted onto the white bottle."}, {"label": "home", "start_step": 3703, "end_step": 3732, "id": "Jde1C9Ff59kiIAZD3SRm1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward with empty palm. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 60, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and grasps the white block on the leftmost purple pillar, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to fix its position."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers separating from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple pole of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1020, "end_step": 1154, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack, adjusting to fully fit it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hollow cylinder on the black tabletop."}, {"label": "subtasks", "start_step": 1230, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder on the black tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple post on the wooden base, pushing it down to fit."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple post without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple peg by aligning the block hole and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic block that has been fitted on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block assembly towards the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closing fingers to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the purple cylindrical object into the top of the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal object and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the white block towards the upper wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2804, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white block onto the empty peg of the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2864, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves empty towards the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2865, "end_step": 2961, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic object off the table and transports it to the position above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3015, "end_step": 3659, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic object with the protruding part of the white bottle, and makes repeated adjustments to insert the cube onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic object after it is properly fitted onto the white bottle."}], "episode_index": 2}
+{"source_uid": "b2a3a5f33465513b", "num_frames": 3267, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block located to the left of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 255, "id": "2b3a7edd-f6b6-434f-8a76-6af742e1abd7"}, {"label": "valid", "start_step": 0, "end_step": 3236, "id": "YATTj66XvaPABBQtVApUo"}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers and makes small positional adjustments to establish a stable grip on the target green hexagonal block on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the grasped green hexagonal block steadily with no visible hand movement, finger adjustment or object displacement."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 256, "end_step": 486, "id": "b80ef879-0d5c-4f70-8520-f05f5025c769"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 308, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the corresponding wooden peg on the assembly board, until the block is stably supported by the peg."}, {"label": "goal", "start_step": 487, "end_step": 612, "id": "86a1145b-8f01-49e0-b8da-70d4b3e02d7f"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward away from the assembly board, approaching the white hexagonal block placed on the front table surface with empty hand."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to form a stable grasp on the block, with the block remaining on the table surface."}, {"label": "goal", "start_step": 613, "end_step": 816, "id": "666903c2-ec17-4f10-af0d-42c0e93b2272"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position directly above the vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reorient: Right hand slightly rotates the grasped white hexagonal block to align its central hole with the vertical rod below, with minimal position change."}, {"label": "subtasks", "start_step": 690, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary above the vertical rod without observable movement of the hand, wrist or block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand moves the white hexagonal block downward along the vertical rod to nest it onto the green block fixed on the rod, completing the fitting action."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block to rest on the green block of the left wooden peg, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 817, "end_step": 942, "id": "590e20f6-3934-489e-a8af-5a7d2e9d082c"}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the white hexagonal block located on the front section of the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand contacts the front white hexagonal block, gradually closing fingers and adjusting wrist and finger positions to form a secure grasp on the block."}, {"label": "goal", "start_step": 943, "end_step": 1128, "id": "7b5df5e4-a13e-46c0-bff6-24bf953b9428"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves the block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden rack, fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and slightly left from its initial position above the stacked blocks on the wooden base, approaching the small white cylindrical object in front of the base with fingers open."}, {"label": "goal", "start_step": 1129, "end_step": 1251, "id": "150d07a2-504d-4530-b7f0-d7c3c4e55c8a"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the small white cylindrical object in front of the wooden base, making small positional adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the small white cylindrical object in front of the wooden base steadily, with no visible movement of the hand or the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical block placed near the wooden base."}, {"label": "goal", "start_step": 1252, "end_step": 1425, "id": "b13e9e41-8a93-4d99-8b33-fcfaa0cdd80a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to separate it from the supporting surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand moves the grasped white cylindrical block horizontally to position it directly above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical block with the purple vertical rod, then lowers the block to fit it onto the rod to complete assembly, with small adjustments of wrist and fingers to maintain alignment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white cylindrical block, gradually separating from the block surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the region adjacent to the wooden block assembly toward the green hexagonal block with an upright white peg resting on the dark table surface, staying empty as it approaches the target block."}, {"label": "goal", "start_step": 1426, "end_step": 1527, "id": "3462be3f-0d32-405c-9da8-e47da67c6929"}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block with an upright white peg, making small finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 1528, "end_step": 1668, "id": "6c104877-411a-4a78-a668-b80f6c020ef0"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple vertical rod."}, {"label": "goal", "start_step": 1669, "end_step": 1770, "id": "d95a63c5-4d10-49df-8630-3b836c42f96a"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the white hexagonal objects on the black table surface, staying empty before contacting the target object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut near the green block on the table, adjusting finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp_lift: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface and lifts the nut upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1771, "end_step": 2115, "id": "a6ab9c3e-c6db-4fb8-937a-5303dced6ba2"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 2114, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, adjusts the nut's position and orientation, and fits the nut down onto the rod to nest with the existing parts on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the white-capped bottle placed on the wooden tray, separating from the bottle surface."}, {"label": "goal", "start_step": 2116, "end_step": 2241, "id": "cf1fb567-5e80-4419-bc95-993b725d4933"}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block positioned near the front-right of the wooden tray."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "goal", "start_step": 2242, "end_step": 2628, "id": "6a79d196-e508-43f5-a14d-a226d8a2d331"}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal block to move upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2624, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple rod, lowers the block to fit around the rod and makes slight adjustments until the block is stably seated on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, separating the hand from the block."}, {"label": "goal", "start_step": 2629, "end_step": 2739, "id": "76d2190a-ac95-41d5-96a6-6bc4cad941ad"}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and toward the white hexagonal object placed on the dark table surface, approaching the object without making contact."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table, making small grip adjustments while the object remains resting on the table surface."}, {"label": "goal", "start_step": 2740, "end_step": 2919, "id": "79e77084-7285-45a9-b1fa-c3306e483c54"}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white annular object off the table surface, moving the object upward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2805, "end_step": 2909, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white annular object with the purple rod, lowering the object to fit onto the rod with small positional adjustments."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves from the area above the wooden bottle tray down towards the green holed block on the right side of the table, with fingers slightly extended."}, {"label": "goal", "start_step": 2920, "end_step": 3036, "id": "b93f62c6-e79e-4875-b8b8-12cce840fddf"}, {"label": "subtasks", "start_step": 2978, "end_step": 3029, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the table to establish a grasp, with fingers moving slightly to make contact with the block surface."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the green cubic block upward from the dark table surface while maintaining a firm grip on the block."}, {"label": "goal", "start_step": 3037, "end_step": 3222, "id": "20961aee-978e-409a-8acf-81790959b46e"}, {"label": "subtasks", "start_step": 3060, "end_step": 3119, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden rack holding stacked white cylinders at the top-right of the workspace."}, {"label": "subtasks", "start_step": 3120, "end_step": 3194, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand lowers the green cubic block downward to place it onto the top of the white cylinder with a purple cap on the rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating the hand from the block resting on the cylinder."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: retreat: Right hand retreats away from the rack area with an empty hand after completing the placement."}, {"label": "home", "start_step": 3237, "end_step": 3266, "id": "ATT-c_QoC24IgPrD_z0rv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block located to the left of the wooden peg base."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers and makes small positional adjustments to establish a stable grip on the target green hexagonal block on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the grasped green hexagonal block steadily with no visible hand movement, finger adjustment or object displacement."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 308, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the corresponding wooden peg on the assembly board, until the block is stably supported by the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward away from the assembly board, approaching the white hexagonal block placed on the front table surface with empty hand."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to form a stable grasp on the block, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position directly above the vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reorient: Right hand slightly rotates the grasped white hexagonal block to align its central hole with the vertical rod below, with minimal position change."}, {"label": "subtasks", "start_step": 690, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary above the vertical rod without observable movement of the hand, wrist or block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand moves the white hexagonal block downward along the vertical rod to nest it onto the green block fixed on the rod, completing the fitting action."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block to rest on the green block of the left wooden peg, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the white hexagonal block located on the front section of the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand contacts the front white hexagonal block, gradually closing fingers and adjusting wrist and finger positions to form a secure grasp on the block."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves the block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden rack, fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and slightly left from its initial position above the stacked blocks on the wooden base, approaching the small white cylindrical object in front of the base with fingers open."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the small white cylindrical object in front of the wooden base, making small positional adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the small white cylindrical object in front of the wooden base steadily, with no visible movement of the hand or the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical block placed near the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to separate it from the supporting surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand moves the grasped white cylindrical block horizontally to position it directly above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical block with the purple vertical rod, then lowers the block to fit it onto the rod to complete assembly, with small adjustments of wrist and fingers to maintain alignment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white cylindrical block, gradually separating from the block surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the region adjacent to the wooden block assembly toward the green hexagonal block with an upright white peg resting on the dark table surface, staying empty as it approaches the target block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block with an upright white peg, making small finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple vertical rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the white hexagonal objects on the black table surface, staying empty before contacting the target object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut near the green block on the table, adjusting finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp_lift: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface and lifts the nut upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 2114, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, adjusts the nut's position and orientation, and fits the nut down onto the rod to nest with the existing parts on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the white-capped bottle placed on the wooden tray, separating from the bottle surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block positioned near the front-right of the wooden tray."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal block to move upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2624, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple rod, lowers the block to fit around the rod and makes slight adjustments until the block is stably seated on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and toward the white hexagonal object placed on the dark table surface, approaching the object without making contact."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table, making small grip adjustments while the object remains resting on the table surface."}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white annular object off the table surface, moving the object upward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2805, "end_step": 2909, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white annular object with the purple rod, lowering the object to fit onto the rod with small positional adjustments."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves from the area above the wooden bottle tray down towards the green holed block on the right side of the table, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2978, "end_step": 3029, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the table to establish a grasp, with fingers moving slightly to make contact with the block surface."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the green cubic block upward from the dark table surface while maintaining a firm grip on the block."}, {"label": "subtasks", "start_step": 3060, "end_step": 3119, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden rack holding stacked white cylinders at the top-right of the workspace."}, {"label": "subtasks", "start_step": 3120, "end_step": 3194, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand lowers the green cubic block downward to place it onto the top of the white cylinder with a purple cap on the rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating the hand from the block resting on the cylinder."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: retreat: Right hand retreats away from the rack area with an empty hand after completing the placement."}], "episode_index": 3}
+{"source_uid": "40ab1dab5ae7b5cd", "num_frames": 4278, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green block on the table to the left of the wooden rack, keeping empty and not touching any object."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "726190e4-f372-41d6-8308-45838bae3d69"}, {"label": "valid", "start_step": 0, "end_step": 4243, "id": "NFMp-tfTGVdJH-Yr3IIl6"}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table and makes slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 199, "end_step": 369, "id": "90a20d33-b0a1-41b0-b6a0-3470f21525d5"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward from the table surface until it is fully in the air."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 248, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green square block onto the bottom wooden board of the left purple vertical rod and releases the block."}, {"label": "goal", "start_step": 370, "end_step": 471, "id": "9042ddf5-44b7-4a5f-88c1-73f5633d5d3b"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and forward from the pegboard area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 472, "end_step": 651, "id": "e8d25e3a-d91a-41c5-99ec-8ff298840068"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it rightward and upward to the area above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the white hexagonal block while empty."}, {"label": "goal", "start_step": 652, "end_step": 753, "id": "a49fdba1-6597-413c-9afb-500ae5bf98b5"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 754, "end_step": 927, "id": "077e8c52-fe6b-4518-bf07-23c27d0579fc"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the central hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 928, "end_step": 1074, "id": "d90f61ab-d32e-4d61-90e5-7d6b6f4dc22c"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1075, "end_step": 1353, "id": "b3975d7b-76be-4701-80b9-d28a59c513a2"}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table and transports it upward and rightward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical object with the purple vertical rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical object fitted on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 1354, "end_step": 1500, "id": "e8746bbd-ec0f-4817-b3a8-777a88fc89b1"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1704, "id": "5287070e-aad3-4e92-aae7-19a2d7938832"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1705, "end_step": 1848, "id": "a7d3d301-4268-4fbe-b72c-6b8c614b0eca"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the green block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 1849, "end_step": 2049, "id": "76829b69-e45c-4eeb-a2e2-9187a78a00f9"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the black table and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the target peg on the wooden rack, lowering the cylinder to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the table to approach the white cylindrical object below the stacked blocks."}, {"label": "goal", "start_step": 2050, "end_step": 2178, "id": "a0a6b4d0-a034-448f-b25b-82680d03f024"}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white cylindrical object on the table and closes its fingers to grasp the object."}, {"label": "goal", "start_step": 2179, "end_step": 2424, "id": "4194fed4-72e2-471b-9a42-c1060ab213e9"}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the wooden base toward the white hollow block on the black table."}, {"label": "goal", "start_step": 2425, "end_step": 2595, "id": "573e0dbd-c5c7-4c9b-8c8d-ba64c650327f"}, {"label": "subtasks", "start_step": 2475, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a grasp on the white hollow block on the table surface."}, {"label": "goal", "start_step": 2596, "end_step": 3327, "id": "1a8608b1-6300-4614-8d68-129948d5e7b7"}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder up from the table and transports it left-upward toward the purple rod on the middle wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2722, "end_step": 3277, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder steadily on the purple rod without moving."}, {"label": "subtasks", "start_step": 3278, "end_step": 3299, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating from the cylinder."}, {"label": "subtasks", "start_step": 3300, "end_step": 3314, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 3315, "end_step": 3389, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward and leftward to the green cubic block on the table, closing its fingers to grasp the block upon contact."}, {"label": "goal", "start_step": 3328, "end_step": 3444, "id": "0beeb4a6-b8d0-4fb7-a057-c7df7c8d3b7f"}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without observable movement."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3445, "end_step": 4218, "id": "ec271174-99a4-4507-892d-379f4c7c532e"}, {"label": "subtasks", "start_step": 3472, "end_step": 3494, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table until the block is fully off the supporting surface."}, {"label": "subtasks", "start_step": 3495, "end_step": 3584, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the rightmost vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 3585, "end_step": 4177, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost vertical rod, aligning the central hole with the rod and adjusting the block's vertical position along the rod repeatedly."}, {"label": "subtasks", "start_step": 4178, "end_step": 4229, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block by opening its fingers, then retreats upward from the operation position."}, {"label": "home", "start_step": 4244, "end_step": 4277, "id": "sRPZtCOQAPx8R5baH_1JV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green block on the table to the left of the wooden rack, keeping empty and not touching any object."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table and makes slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward from the table surface until it is fully in the air."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 248, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green square block onto the bottom wooden board of the left purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and forward from the pegboard area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it rightward and upward to the area above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the white hexagonal block while empty."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the central hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table and transports it upward and rightward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical object with the purple vertical rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical object fitted on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the green block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the black table and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the target peg on the wooden rack, lowering the cylinder to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the table to approach the white cylindrical object below the stacked blocks."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white cylindrical object on the table and closes its fingers to grasp the object."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the wooden base toward the white hollow block on the black table."}, {"label": "subtasks", "start_step": 2475, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a grasp on the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder up from the table and transports it left-upward toward the purple rod on the middle wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2722, "end_step": 3277, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder steadily on the purple rod without moving."}, {"label": "subtasks", "start_step": 3278, "end_step": 3299, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating from the cylinder."}, {"label": "subtasks", "start_step": 3300, "end_step": 3314, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 3315, "end_step": 3389, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward and leftward to the green cubic block on the table, closing its fingers to grasp the block upon contact."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without observable movement."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3472, "end_step": 3494, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table until the block is fully off the supporting surface."}, {"label": "subtasks", "start_step": 3495, "end_step": 3584, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the rightmost vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 3585, "end_step": 4177, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost vertical rod, aligning the central hole with the rod and adjusting the block's vertical position along the rod repeatedly."}, {"label": "subtasks", "start_step": 4178, "end_step": 4229, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block by opening its fingers, then retreats upward from the operation position."}], "episode_index": 4}
+{"source_uid": "23dcde824ab93bd0", "num_frames": 4378, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty at its initial right-side position in the workspace, with no active movement toward the central table objects."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "fe9e0f03-5f2a-4ef7-a768-6da14f870440"}, {"label": "valid", "start_step": 0, "end_step": 4347, "id": "c072r9CDHdSX9iPpyK_8J"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block resting on the table in front of the wooden block assembly, holding fingers open as it approaches without touching the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes its fingers around the block to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block that stays resting on the table, with no observable movement of the hand, fingers, or the block during this period."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grip on the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 187, "end_step": 390, "id": "9af0980b-2d06-47d1-86a5-7e15d3c4d050"}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, moves the block upward and toward the wooden pegboard to position it above a purple vertical peg."}, {"label": "subtasks", "start_step": 270, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moves the block downward to slide it onto the peg until the block rests stably on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 382, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard to approach the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 391, "end_step": 528, "id": "504b10a5-c0c6-447a-8d70-bc50bd1896e9"}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes slight finger and wrist adjustments around the white hexagonal block, closing fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts its fingers and wrist to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 529, "end_step": 720, "id": "6dd26f02-3e96-4210-b0c8-cf243f229dee"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple post, and moves it downward to fit onto the post until it rests on the green block below."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white topped block, aligns and fits it onto the corresponding purple post on the wooden assembly base, opens fingers to release the assembled block."}, {"label": "goal", "start_step": 721, "end_step": 825, "id": "a7e753aa-f165-4f40-a18c-27245f6cd21a"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the dark table surface, with fingers slightly open, not yet contacting the block."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts wrist position and finger contact points, and gradually closes fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 826, "end_step": 978, "id": "20e73073-5837-4e05-a01d-3c7c9fdb3be2"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the two parts."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the wooden peg on the light wooden base, presses it down to fit onto the peg and releases the block."}, {"label": "goal", "start_step": 979, "end_step": 1092, "id": "ba2f45e9-e4ce-45a5-8423-7c02a74f0c60"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block near the wooden base on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close and adjust position to form a grip on the block."}, {"label": "goal", "start_step": 1093, "end_step": 1236, "id": "855243d2-2bfa-4360-a4cf-ba82aee72e29"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit it onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1237, "end_step": 1317, "id": "8866b0f3-df22-4c6e-a43f-90a8e3e967ae"}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 1318, "end_step": 1482, "id": "940e0072-03d3-46c2-b3b6-c38c4299a28f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the upper area near the wooden block assembly, approaching the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1483, "end_step": 1584, "id": "3689ed39-8384-4c81-8b71-7c336cc57b5a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close around the block and make slight positional adjustments to establish a firm grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1585, "end_step": 1797, "id": "b753e863-27c3-4da1-8b08-8ea83742b153"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves from the area above the wooden block stand toward the white hexagonal block near the stand on the table, with fingers open, approaching the target block."}, {"label": "goal", "start_step": 1798, "end_step": 2396, "id": "500053bb-1d0c-409a-9820-3df0bc2daab4"}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block while the block remains on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning the block's hole with the purple rod to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal block away from the purple rod, moving rightward and downward back toward the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface until the block is supported by the table, then opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty above the placed white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger position around the white hexagonal block resting on the dark table surface to form a stable grasp."}, {"label": "goal", "start_step": 2397, "end_step": 2579, "id": "cef8f212-3128-430d-8fff-da2c68fc2631"}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and leftward through the air to position it above the vertical purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the vertical purple rod, lowers the block to fit it onto the rod, and establishes the assembled connection between the block and rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any movement of the hand or block."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper right area toward the white hexagonal block placed on the dark table surface, with fingers slightly spread as it approaches the target."}, {"label": "goal", "start_step": 2580, "end_step": 2789, "id": "fac7ae77-19e0-48aa-a761-ea4bfed9a387"}, {"label": "subtasks", "start_step": 2618, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, adjusts finger closure and wrist angle to secure the grip, making slight rotational and positional adjustments to the block during the grasping process."}, {"label": "subtasks", "start_step": 2730, "end_step": 2789, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand maintains a stable grasp on the white hexagonal block resting on the table, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 2790, "end_step": 2975, "id": "ad7f2792-8a3b-4e8c-b98c-53abd6e008dd"}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward toward the wooden block rack holding stacked white and green blocks."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg, with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block, separating fully from the block surface by the end of the segment."}, {"label": "subtasks", "start_step": 2970, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: retreat: Right hand moves backward away from the white hexagonal block positioned on the rack."}, {"label": "goal", "start_step": 2976, "end_step": 4004, "id": "6b8059ea-2e9c-488d-9343-83f28b27bc7f"}, {"label": "subtasks", "start_step": 2978, "end_step": 3021, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper-right area near the wooden tray toward the green cube placed on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 3022, "end_step": 3097, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube, and adjusts finger positions to form a stable grip while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3111, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the securely grasped green cube upward, raising the cube completely off the dark table surface."}, {"label": "subtasks", "start_step": 3112, "end_step": 3164, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cube upward and leftward, moving the cube to a position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3165, "end_step": 3764, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green cube steadily above the purple-capped bottle on the wooden tray, with no visible movement of the hand, fingers, or the grasped cube."}, {"label": "subtasks", "start_step": 3765, "end_step": 3831, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green cube away from the area above the purple-capped bottle, moving the cube downward and rightward back toward the dark table surface."}, {"label": "subtasks", "start_step": 3832, "end_step": 3899, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green cube onto the dark table surface until the cube is fully supported by the table, then opens fingers to release the cube and separate from its surface."}, {"label": "subtasks", "start_step": 3900, "end_step": 3981, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty and stationary directly above the placed green cube on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 3982, "end_step": 4004, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand moves fingers downward to make contact with the top of the green cube, closing fingers around the cube to initiate a new grip."}, {"label": "subtasks", "start_step": 4005, "end_step": 4019, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block resting on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 4005, "end_step": 4325, "id": "f5014e7d-3db0-44bf-a1ae-669e24a8ca71"}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block to move upward and leftward toward the area above the wooden block rack."}, {"label": "subtasks", "start_step": 4072, "end_step": 4161, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reorient: Right hand slightly rotates the green hexagonal block to adjust its posture while keeping roughly the same position above the purple cylindrical object for alignment."}, {"label": "subtasks", "start_step": 4162, "end_step": 4214, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block to move rightward to the position above the rightmost white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 4215, "end_step": 4289, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block steadily above the rightmost white cylindrical block without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 4290, "end_step": 4334, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block downward to place it on the top surface of the rightmost white cylindrical block, then opens the fingers to release the block."}, {"label": "home", "start_step": 4348, "end_step": 4377, "id": "ZnR2HGFQt_sLyZrzlgs1q"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty at its initial right-side position in the workspace, with no active movement toward the central table objects."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block resting on the table in front of the wooden block assembly, holding fingers open as it approaches without touching the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes its fingers around the block to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block that stays resting on the table, with no observable movement of the hand, fingers, or the block during this period."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grip on the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, moves the block upward and toward the wooden pegboard to position it above a purple vertical peg."}, {"label": "subtasks", "start_step": 270, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moves the block downward to slide it onto the peg until the block rests stably on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 382, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard to approach the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes slight finger and wrist adjustments around the white hexagonal block, closing fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts its fingers and wrist to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple post, and moves it downward to fit onto the post until it rests on the green block below."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white topped block, aligns and fits it onto the corresponding purple post on the wooden assembly base, opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the dark table surface, with fingers slightly open, not yet contacting the block."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts wrist position and finger contact points, and gradually closes fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the two parts."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the wooden peg on the light wooden base, presses it down to fit onto the peg and releases the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block near the wooden base on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit it onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the upper area near the wooden block assembly, approaching the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close around the block and make slight positional adjustments to establish a firm grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves from the area above the wooden block stand toward the white hexagonal block near the stand on the table, with fingers open, approaching the target block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block while the block remains on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning the block's hole with the purple rod to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal block away from the purple rod, moving rightward and downward back toward the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface until the block is supported by the table, then opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty above the placed white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger position around the white hexagonal block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and leftward through the air to position it above the vertical purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the vertical purple rod, lowers the block to fit it onto the rod, and establishes the assembled connection between the block and rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any movement of the hand or block."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper right area toward the white hexagonal block placed on the dark table surface, with fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 2618, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, adjusts finger closure and wrist angle to secure the grip, making slight rotational and positional adjustments to the block during the grasping process."}, {"label": "subtasks", "start_step": 2730, "end_step": 2789, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand maintains a stable grasp on the white hexagonal block resting on the table, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward toward the wooden block rack holding stacked white and green blocks."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg, with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block, separating fully from the block surface by the end of the segment."}, {"label": "subtasks", "start_step": 2970, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: retreat: Right hand moves backward away from the white hexagonal block positioned on the rack."}, {"label": "subtasks", "start_step": 2978, "end_step": 3021, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper-right area near the wooden tray toward the green cube placed on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 3022, "end_step": 3097, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube, and adjusts finger positions to form a stable grip while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3111, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the securely grasped green cube upward, raising the cube completely off the dark table surface."}, {"label": "subtasks", "start_step": 3112, "end_step": 3164, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cube upward and leftward, moving the cube to a position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3165, "end_step": 3764, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green cube steadily above the purple-capped bottle on the wooden tray, with no visible movement of the hand, fingers, or the grasped cube."}, {"label": "subtasks", "start_step": 3765, "end_step": 3831, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green cube away from the area above the purple-capped bottle, moving the cube downward and rightward back toward the dark table surface."}, {"label": "subtasks", "start_step": 3832, "end_step": 3899, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green cube onto the dark table surface until the cube is fully supported by the table, then opens fingers to release the cube and separate from its surface."}, {"label": "subtasks", "start_step": 3900, "end_step": 3981, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty and stationary directly above the placed green cube on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 3982, "end_step": 4004, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand moves fingers downward to make contact with the top of the green cube, closing fingers around the cube to initiate a new grip."}, {"label": "subtasks", "start_step": 4005, "end_step": 4019, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block resting on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block to move upward and leftward toward the area above the wooden block rack."}, {"label": "subtasks", "start_step": 4072, "end_step": 4161, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reorient: Right hand slightly rotates the green hexagonal block to adjust its posture while keeping roughly the same position above the purple cylindrical object for alignment."}, {"label": "subtasks", "start_step": 4162, "end_step": 4214, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block to move rightward to the position above the rightmost white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 4215, "end_step": 4289, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block steadily above the rightmost white cylindrical block without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 4290, "end_step": 4334, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block downward to place it on the top surface of the rightmost white cylindrical block, then opens the fingers to release the block."}], "episode_index": 5}
+{"source_uid": "33ef90cf5e9990e0", "num_frames": 2764, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block at the left front of the wooden peg base, with wrist rotating slightly to adjust orientation and fingers keeping slightly open, approaching the target."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "50f26a60-bbbd-45cc-81b1-e029fffc2668"}, {"label": "valid", "start_step": 0, "end_step": 2733, "id": "NZ55fdToTGy7nAdc2KbwZ"}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting slightly to establish a stable grip."}, {"label": "goal", "start_step": 205, "end_step": 375, "id": "26590ac3-f6eb-43a3-998f-607afec777e0"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down along the leftmost peg until the block is stably supported."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the upper wooden rack area, approaching the white hexagonal block on the table."}, {"label": "goal", "start_step": 376, "end_step": 489, "id": "3569aec0-86ad-4008-8109-fc95ebac2466"}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 490, "end_step": 657, "id": "8fbc06af-97fd-4797-8047-33a9b24d5aa7"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the leftmost purple peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white holed block onto the leftmost green block's peg and releases the grip."}, {"label": "goal", "start_step": 658, "end_step": 753, "id": "772c010d-39e9-4923-9be5-b1b670acbab4"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 698, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 754, "end_step": 1053, "id": "b2982a85-d5c1-4cfe-a818-73bdb3df15de"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and rightward toward the pegboard."}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the top of the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white cylindrical block on the rightmost purple peg of the wooden base and releases it quickly."}, {"label": "goal", "start_step": 1054, "end_step": 1179, "id": "b5a867d5-89ec-442e-9cf5-e15dad8c5030"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards towards the white hexagonal block with a central hole on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight downward adjustment to stabilize the grip."}, {"label": "goal", "start_step": 1180, "end_step": 1323, "id": "72f7e641-4a26-4582-9a48-ef019a712881"}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while transporting it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1324, "end_step": 1416, "id": "858e4866-9791-4668-bd2b-f08adf196f27"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the green hollow square block on the dark table surface and grasps it with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1417, "end_step": 1590, "id": "01b54d92-5b9d-44ce-8961-ac24723c4d75"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and rightward to the top of the target purple peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block with the target purple peg by inserting it downward and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the top of the purple vertical rod, with fingers opening and separating from the ring."}, {"label": "goal", "start_step": 1591, "end_step": 1680, "id": "60445518-ea1f-4719-95b4-0e91fa6c8683"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white holed hexagonal object on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white holed hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1681, "end_step": 1866, "id": "a3a99158-c9a2-49a5-9133-f7c6bebaad35"}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the green post on the wooden rack and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on top of the green block stack at the center-top area of the table."}, {"label": "goal", "start_step": 1867, "end_step": 1962, "id": "e3ad98e9-c6c5-41df-8815-eba90a6ecda4"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the center-top block stack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1963, "end_step": 2142, "id": "3310dcf9-94fc-4b49-a82a-4d249b1c83a6"}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the rightmost white block of the rack downward."}, {"label": "goal", "start_step": 2143, "end_step": 2244, "id": "fb8ab218-8284-41a7-8557-6ae03e2bbe03"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2245, "end_step": 2442, "id": "03d33bd9-211c-43d9-9536-66199a068d1c"}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cubic block with the purple rod on the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray downward."}, {"label": "goal", "start_step": 2443, "end_step": 2532, "id": "99642ed5-3177-41f9-8604-addcfde48c45"}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2533, "end_step": 2697, "id": "f18c4bc6-e2cf-49a2-b15c-2d4f75e22a0c"}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the wooden rack with white cylindrical bottles."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white bottle on the wooden rack and mates it onto the bottle by moving downward until the block is supported."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2734, "end_step": 2763, "id": "UB1rmiy5sZj_0xOlaz7pm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block at the left front of the wooden peg base, with wrist rotating slightly to adjust orientation and fingers keeping slightly open, approaching the target."}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down along the leftmost peg until the block is stably supported."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the upper wooden rack area, approaching the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the leftmost purple peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white holed block onto the leftmost green block's peg and releases the grip."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 698, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and rightward toward the pegboard."}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the top of the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white cylindrical block on the rightmost purple peg of the wooden base and releases it quickly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards towards the white hexagonal block with a central hole on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight downward adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while transporting it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the green hollow square block on the dark table surface and grasps it with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and rightward to the top of the target purple peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block with the target purple peg by inserting it downward and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the top of the purple vertical rod, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white holed hexagonal object on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white holed hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the green post on the wooden rack and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on top of the green block stack at the center-top area of the table."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the center-top block stack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the rightmost white block of the rack downward."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cubic block with the purple rod on the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray downward."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the wooden rack with white cylindrical bottles."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white bottle on the wooden rack and mates it onto the bottle by moving downward until the block is supported."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}], "episode_index": 6}
+{"source_uid": "7f578e1ba0b16f91", "num_frames": 3403, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the leftmost white hexagonal block on the wooden base, without contacting the object."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "1a7bb7db-68a1-4e05-9523-192c8b03d9ab"}, {"label": "valid", "start_step": 0, "end_step": 3371, "id": "_QsmPmVuGzK4aEOYDsrDQ"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the wooden base, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving it away from the supporting wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "goal", "start_step": 178, "end_step": 348, "id": "81fb9768-a7cc-415b-a741-f1574ffbbfc5"}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple peg."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves slightly upward."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the purple pillar on the wooden base and releases the block."}, {"label": "goal", "start_step": 349, "end_step": 516, "id": "309b3ba0-224e-4a56-9fda-ba8064d1feaf"}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close and adjust to establish stable grasp on the block."}, {"label": "goal", "start_step": 517, "end_step": 729, "id": "5a27888b-a24e-4752-aac5-88d2f12b35b7"}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the central hole of the block with the top of the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 730, "end_step": 849, "id": "d8c2f847-03d5-4193-913c-8bc14d5118f2"}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 850, "end_step": 1008, "id": "32faf625-6de5-4fbb-8c71-cb3d6698c6bf"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder near the wooden rack on the desktop."}, {"label": "goal", "start_step": 1009, "end_step": 1122, "id": "5931fef4-85ff-4fe8-82b1-6678b3371b7e"}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "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 touches the white hexagonal cylinder and adjusts fingers to form a stable grasp on it."}, {"label": "goal", "start_step": 1123, "end_step": 1302, "id": "1263265f-c143-4c95-b37d-f50ec36b82d3"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple vertical rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block rack towards the green cubic block on the black tabletop, not contacting the block yet."}, {"label": "goal", "start_step": 1303, "end_step": 1407, "id": "45cf30e0-5d7e-4149-bc56-d56368e0de69"}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cubic block on the tabletop, fingers adjust to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1408, "end_step": 1563, "id": "671d4242-df59-4ee6-8347-b77514cef203"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the tabletop and transports it to the area above the wooden post rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the target post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1551, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube down along the post to fix it in position."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube and slightly moves away from the rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1564, "end_step": 1680, "id": "5a5422ac-b2d8-436d-a9b2-8cfc63a9edc7"}, {"label": "subtasks", "start_step": 1612, "end_step": 1701, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1681, "end_step": 2322, "id": "63e9b8dc-dab7-4104-8a1b-29cb4ee062e2"}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2108, "end_step": 2309, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder down along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the vacant position of the wooden tray."}, {"label": "goal", "start_step": 2323, "end_step": 2487, "id": "6d24aa74-a706-4399-96b0-1bba0e09f7fd"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table near the green square block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closes fingers to form and adjust the grasp on the block."}, {"label": "goal", "start_step": 2488, "end_step": 2646, "id": "3ac25820-6b13-4e22-b783-39d03545d749"}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 2647, "end_step": 2742, "id": "ae1fe1b6-0375-4446-b8eb-dfec576d2d8b"}, {"label": "subtasks", "start_step": 2655, "end_step": 2684, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2685, "end_step": 2767, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal object on the table."}, {"label": "goal", "start_step": 2743, "end_step": 3054, "id": "9959de33-63ea-4499-8c95-cbf4882e113c"}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2805, "end_step": 2887, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 3044, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block down along the purple rod to secure it, then releases the block."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple part on the white bottle fixed on the wooden rack."}, {"label": "goal", "start_step": 3055, "end_step": 3183, "id": "58dfe534-e283-4730-b467-5a3512db4cea"}, {"label": "subtasks", "start_step": 3082, "end_step": 3141, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 3184, "end_step": 3342, "id": "f7399657-cba2-4476-b23e-568792e2b1bb"}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3307, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and inserts the block onto the bottle."}, {"label": "subtasks", "start_step": 3308, "end_step": 3344, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the bottle to secure it in place."}, {"label": "home", "start_step": 3372, "end_step": 3402, "id": "LvwuK0O1jtfIt5TQpFPw9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the leftmost white hexagonal block on the wooden base, without contacting the object."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the wooden base, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving it away from the supporting wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple peg."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves slightly upward."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the purple pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close and adjust to establish stable grasp on the block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the central hole of the block with the top of the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder near the wooden rack on the desktop."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "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 touches the white hexagonal cylinder and adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple vertical rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block rack towards the green cubic block on the black tabletop, not contacting the block yet."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cubic block on the tabletop, fingers adjust to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the tabletop and transports it to the area above the wooden post rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the target post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1551, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube down along the post to fix it in position."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube and slightly moves away from the rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1701, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2108, "end_step": 2309, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder down along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the vacant position of the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table near the green square block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closes fingers to form and adjust the grasp on the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2655, "end_step": 2684, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2685, "end_step": 2767, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2805, "end_step": 2887, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 3044, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block down along the purple rod to secure it, then releases the block."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple part on the white bottle fixed on the wooden rack."}, {"label": "subtasks", "start_step": 3082, "end_step": 3141, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3307, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and inserts the block onto the bottle."}, {"label": "subtasks", "start_step": 3308, "end_step": 3344, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the bottle to secure it in place."}], "episode_index": 7}
+{"source_uid": "9d4e97605f4653c5", "num_frames": 3509, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious translational movement."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "fb647039-54b3-4399-ae64-7f77698d2234"}, {"label": "valid", "start_step": 0, "end_step": 3477, "id": "D8Hfp66HJfNm_OWJ07dlY"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty leftward toward the green hexagonal nut adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers and makes small contact adjustments to establish grip on the green hexagonal nut adjacent to the wooden peg base."}, {"label": "goal", "start_step": 211, "end_step": 360, "id": "efdd125b-f415-430f-a21f-da4ddec3a031"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the firmly gripped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the lifted green block upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green block seated on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block resting on the purple peg."}, {"label": "goal", "start_step": 361, "end_step": 453, "id": "1f4d7893-e75c-4e88-96de-04c447408d33"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the front white hexagonal block on the table, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers gradually close and make small positional adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 454, "end_step": 615, "id": "33eca41f-a07c-4be7-b50a-36900f5bae44"}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held white hexagonal nut, keeping its position roughly unchanged above the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod and lowers it slightly to fit the rod into the hole, establishing the mating connection."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until the nut rests stably on the green base block beneath the rod, fully supported by the base."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating the hand completely from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden block assembly toward the loose white hexagonal block on the black table surface, with fingers extended during the approach."}, {"label": "goal", "start_step": 616, "end_step": 720, "id": "5e767271-c820-48d9-af52-902e5b877699"}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "goal", "start_step": 721, "end_step": 903, "id": "0f004f0a-b545-48d8-8380-19e358999b26"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut backward to the position directly above a purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 765, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then slides the nut down the peg until it rests on the lower nut."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is stably supported by the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: press: Right hand presses vertically downward on the top white hexagonal block on the leftmost purple post of the wooden stand to seat the block fully in place."}, {"label": "goal", "start_step": 904, "end_step": 1014, "id": "802bb7b2-c0ad-4483-af8d-e672f12f51a5"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block resting on the table surface in front of the wooden stand, with fingers held in an open posture."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions to stabilize grasp on the white hexagonal cylinder resting on the table near the wooden rack."}, {"label": "goal", "start_step": 1015, "end_step": 1218, "id": "47e4e1f6-e10a-4a34-a5a2-5debb99298ff"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder toward the area directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and lowers it to fit snugly onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal cylinder onto the purple post."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves away from the assembled post as an empty hand in a retreating motion."}, {"label": "goal", "start_step": 1219, "end_step": 1293, "id": "ac48787e-9fa6-4709-af06-d427c5141a30"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the dark table surface, fingers held in a slightly spread posture before contacting the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and making small positional adjustments to form a grip on the block which remains resting on the table."}, {"label": "goal", "start_step": 1294, "end_step": 1539, "id": "a042e0c4-b7a3-42c4-bc44-e929560b6df5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple peg of the wooden assembly base, separating from the block."}, {"label": "goal", "start_step": 1540, "end_step": 1728, "id": "4445c427-4372-4da8-9176-17152d2e37aa"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without moving, with no visible change in hand shape or object position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal cylinder resting on the black table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1896, "id": "f128cef6-86b8-4293-b49c-e43f16100561"}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal cylinder through the air toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, moves the cylinder downward to fit onto the rod, and adjusts its position during assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block placed on the table near the wooden block tray, with fingers held slightly open."}, {"label": "goal", "start_step": 1897, "end_step": 2004, "id": "432e106b-11e2-4fa6-86c3-0b38822f1858"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the tray, adjusting finger contact to establish a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, then lifts the block upward until it is completely off the table."}, {"label": "goal", "start_step": 2005, "end_step": 2499, "id": "287e22f4-073d-4c31-b719-721ad109a670"}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple vertical rod on the wooden base, moving the block to the position directly above the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, then lowers the block to fit it onto the rod until it rests stably on the stacked block below."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty slightly upward, retreating from the position of the assembled white block on the purple rod."}, {"label": "goal", "start_step": 2500, "end_step": 2652, "id": "2fca7326-7c70-4e08-af16-6d134b5bfc1d"}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the green block, with fingers slightly spread, and does not touch the block yet."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closes fingers gradually and makes small adjustments to form a stable grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the black table steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block resting on the black table surface beside the green block, closing fingers to establish a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 2653, "end_step": 3060, "id": "21acb6e3-fcff-416c-8a09-f0dff2abadc4"}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the black table surface and carries it upward toward the wooden block rack, positioning the block directly above the vertical purple rod atop the stacked blocks."}, {"label": "subtasks", "start_step": 2730, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the vertical purple rod, making small positional and rotational adjustments to fit the block onto the rod while lowering it toward the supporting block below."}, {"label": "subtasks", "start_step": 3008, "end_step": 3021, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block to rest fully on the supporting block on the rack, opening its fingers to release grip on the now-stationary block."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty away from the stacked blocks on the wooden rack, retracting toward the right side of the workspace."}, {"label": "subtasks", "start_step": 3060, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green holed cubic block on the table with fingers slightly spread."}, {"label": "goal", "start_step": 3061, "end_step": 3171, "id": "dc849a2c-da9a-46f7-a1e4-6e0f9695b0c8"}, {"label": "subtasks", "start_step": 3112, "end_step": 3187, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed cubic block on the table, adjusting finger contact positions to form a grip."}, {"label": "goal", "start_step": 3172, "end_step": 3438, "id": "cfe474f1-3c04-47fd-8bef-39ad20575d9e"}, {"label": "subtasks", "start_step": 3188, "end_step": 3201, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the green block vertically upward, separating the block completely from the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted green block upward and toward the top of the stacked cylinders on the wooden base."}, {"label": "subtasks", "start_step": 3240, "end_step": 3434, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the hole of the green block with the top of the target purple-topped cylinder, adjusting wrist and finger positions slightly to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, beginning to separate from the block now seated on the cylinder."}, {"label": "home", "start_step": 3478, "end_step": 3508, "id": "ILd7z7J5PhxowifFyMKJW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious translational movement."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty leftward toward the green hexagonal nut adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers and makes small contact adjustments to establish grip on the green hexagonal nut adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the firmly gripped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the lifted green block upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green block seated on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block resting on the purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the front white hexagonal block on the table, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers gradually close and make small positional adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held white hexagonal nut, keeping its position roughly unchanged above the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod and lowers it slightly to fit the rod into the hole, establishing the mating connection."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until the nut rests stably on the green base block beneath the rod, fully supported by the base."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating the hand completely from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden block assembly toward the loose white hexagonal block on the black table surface, with fingers extended during the approach."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut backward to the position directly above a purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 765, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then slides the nut down the peg until it rests on the lower nut."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is stably supported by the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: press: Right hand presses vertically downward on the top white hexagonal block on the leftmost purple post of the wooden stand to seat the block fully in place."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block resting on the table surface in front of the wooden stand, with fingers held in an open posture."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions to stabilize grasp on the white hexagonal cylinder resting on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder toward the area directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and lowers it to fit snugly onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal cylinder onto the purple post."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves away from the assembled post as an empty hand in a retreating motion."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the dark table surface, fingers held in a slightly spread posture before contacting the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and making small positional adjustments to form a grip on the block which remains resting on the table."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple peg of the wooden assembly base, separating from the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without moving, with no visible change in hand shape or object position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal cylinder resting on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal cylinder through the air toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, moves the cylinder downward to fit onto the rod, and adjusts its position during assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block placed on the table near the wooden block tray, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the tray, adjusting finger contact to establish a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, then lifts the block upward until it is completely off the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple vertical rod on the wooden base, moving the block to the position directly above the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, then lowers the block to fit it onto the rod until it rests stably on the stacked block below."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty slightly upward, retreating from the position of the assembled white block on the purple rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the green block, with fingers slightly spread, and does not touch the block yet."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closes fingers gradually and makes small adjustments to form a stable grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the black table steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block resting on the black table surface beside the green block, closing fingers to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the black table surface and carries it upward toward the wooden block rack, positioning the block directly above the vertical purple rod atop the stacked blocks."}, {"label": "subtasks", "start_step": 2730, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the vertical purple rod, making small positional and rotational adjustments to fit the block onto the rod while lowering it toward the supporting block below."}, {"label": "subtasks", "start_step": 3008, "end_step": 3021, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block to rest fully on the supporting block on the rack, opening its fingers to release grip on the now-stationary block."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty away from the stacked blocks on the wooden rack, retracting toward the right side of the workspace."}, {"label": "subtasks", "start_step": 3060, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green holed cubic block on the table with fingers slightly spread."}, {"label": "subtasks", "start_step": 3112, "end_step": 3187, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed cubic block on the table, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 3188, "end_step": 3201, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the green block vertically upward, separating the block completely from the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted green block upward and toward the top of the stacked cylinders on the wooden base."}, {"label": "subtasks", "start_step": 3240, "end_step": 3434, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the hole of the green block with the top of the target purple-topped cylinder, adjusting wrist and finger positions slightly to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, beginning to separate from the block now seated on the cylinder."}], "episode_index": 8}
+{"source_uid": "e97326ad7683b7e9", "num_frames": 4315, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface in front of the wooden peg rack, with the wrist rotating about 90 degrees downward to face the fingers toward the block."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "1d959ac7-cfed-4be1-b59f-cc44c92ed0b2"}, {"label": "valid", "start_step": 1, "end_step": 4284, "id": "myUFBqkvEYm8chTlpFC_-"}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 181, "end_step": 345, "id": "d79f7aa1-b900-4457-85ac-95d098ba83c3"}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it down onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 346, "end_step": 456, "id": "cb1caa45-9a03-444e-964d-52fd8a580760"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 457, "end_step": 708, "id": "184c5f21-9a0b-4e21-972b-a8638b3fea1b"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the front-left purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 709, "end_step": 822, "id": "7be4ab04-a016-4281-b520-b1a247d9a9e5"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 823, "end_step": 1050, "id": "ab58f0bf-fb69-4580-b569-957a9876944b"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table surface and transports it towards the left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hollow block with the left purple peg on the wooden rack, fits it onto the peg, and makes small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the white hollow block on the purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1051, "end_step": 1152, "id": "63ca0efd-8a92-4cb6-ba75-9424262f3689"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking tower."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1153, "end_step": 1344, "id": "95841f26-26f2-4048-98fc-f3570b873553"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases the object."}, {"label": "goal", "start_step": 1345, "end_step": 1443, "id": "2e0ac1cc-2cfa-4c8d-923a-8b4e5ee89236"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1444, "end_step": 1635, "id": "67af6f19-8c8f-40c4-a5d3-3fce59791dd4"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cubic block with the vertical peg on the board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the upper block set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1636, "end_step": 1743, "id": "f2cfb294-bac4-43bf-956f-4bdbcadab101"}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the table next to the green cubic block without moving."}, {"label": "goal", "start_step": 1744, "end_step": 1950, "id": "b2a72b14-da15-4028-94c3-00685404fd1a"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the back-right peg board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white cylindrical object onto a vertical peg on the peg board via aligning and downward movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves down and right from the top of the block stack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1951, "end_step": 2070, "id": "9fc953dd-dbd8-4591-a32c-694108e4f67b"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2071, "end_step": 2223, "id": "9a40b1bd-1532-4c62-97da-d212f9b88847"}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2219, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole, and releases the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_release: Right hand lifts the purple rod upward from the white cylinder on the right side of the pegboard and releases the rod."}, {"label": "goal", "start_step": 2224, "end_step": 2304, "id": "6c3f6bd2-2ca1-4a1b-a267-a423045e2799"}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2305, "end_step": 2853, "id": "26a0b78b-4a29-4615-a7dd-95139c45fdf8"}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white cylindrical block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2849, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the top part of the rightmost white cylinder on the wooden rack."}, {"label": "goal", "start_step": 2854, "end_step": 3629, "id": "d2cc20c5-c042-4ac5-ae4d-8905d9855b34"}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it upward to the area above the wooden rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand aligns and adjusts the green cubic block to fit onto the white cylinder of the wooden rack before releasing it, causing the block to fall onto the table."}, {"label": "subtasks", "start_step": 3435, "end_step": 3494, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block that has fallen on the table."}, {"label": "subtasks", "start_step": 3495, "end_step": 3629, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers continuously adjusting the contact position and grip."}, {"label": "subtasks", "start_step": 3630, "end_step": 3644, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cube on the right table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 3630, "end_step": 4271, "id": "88fb8c86-c6b3-42fc-a15e-c4196f9908f0"}, {"label": "subtasks", "start_step": 3645, "end_step": 3681, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it leftward to the top of the purple-tipped bottle at the front right of the bottle rack."}, {"label": "subtasks", "start_step": 3682, "end_step": 4259, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cube with the purple-tipped bottle and fits it onto the bottle, making continuous fine adjustments to the position and orientation of the green cube during the assembly process."}, {"label": "subtasks", "start_step": 4260, "end_step": 4274, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 4285, "end_step": 4314, "id": "Xo8V0H6zNZqCmqEyF4P9D"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface in front of the wooden peg rack, with the wrist rotating about 90 degrees downward to face the fingers toward the block."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it down onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the front-left purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table surface and transports it towards the left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hollow block with the left purple peg on the wooden rack, fits it onto the peg, and makes small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the white hollow block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking tower."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases the object."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cubic block with the vertical peg on the board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the upper block set toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the table next to the green cubic block without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the back-right peg board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white cylindrical object onto a vertical peg on the peg board via aligning and downward movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves down and right from the top of the block stack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2219, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole, and releases the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_release: Right hand lifts the purple rod upward from the white cylinder on the right side of the pegboard and releases the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white cylindrical block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2849, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the top part of the rightmost white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it upward to the area above the wooden rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand aligns and adjusts the green cubic block to fit onto the white cylinder of the wooden rack before releasing it, causing the block to fall onto the table."}, {"label": "subtasks", "start_step": 3435, "end_step": 3494, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block that has fallen on the table."}, {"label": "subtasks", "start_step": 3495, "end_step": 3629, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers continuously adjusting the contact position and grip."}, {"label": "subtasks", "start_step": 3630, "end_step": 3644, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cube on the right table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 3645, "end_step": 3681, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it leftward to the top of the purple-tipped bottle at the front right of the bottle rack."}, {"label": "subtasks", "start_step": 3682, "end_step": 4259, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cube with the purple-tipped bottle and fits it onto the bottle, making continuous fine adjustments to the position and orientation of the green cube during the assembly process."}, {"label": "subtasks", "start_step": 4260, "end_step": 4274, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}], "episode_index": 9}
+{"source_uid": "2a5e4b47cef87b66", "num_frames": 5098, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the right side of the table towards the green block located in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "b8a80ad8-fcd4-432a-ba63-c5e25eafff9f"}, {"label": "valid", "start_step": 0, "end_step": 5064, "id": "y0w7KSAqe_v6wDVEEzaU-"}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green block on the table."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until it is completely off the support."}, {"label": "goal", "start_step": 193, "end_step": 990, "id": "991b4e77-df5b-4bec-b602-d77eb556086f"}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 967, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg repeatedly to push it tightly onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 991, "end_step": 1158, "id": "4bf19dd0-1fe7-4185-b49a-6fcfb4ca9ee5"}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1159, "end_step": 1425, "id": "7fc6a26c-6ea6-453e-91d4-b92793d6ee7c"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the green rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to fix it, then releases the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats upwards away from the assembled block and rod."}, {"label": "goal", "start_step": 1426, "end_step": 1572, "id": "cddaef86-f6b6-4e5e-8821-df79538e3136"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the black table surface."}, {"label": "goal", "start_step": 1573, "end_step": 1947, "id": "5204a600-1258-4e0f-99c0-d29be87c0b40"}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal sleeve with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1934, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the white hexagonal sleeve down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 2047, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden rack area to the white hexagonal block on the table."}, {"label": "goal", "start_step": 1948, "end_step": 2382, "id": "e800ac2f-95a9-44cc-ab23-3aac232dcc76"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2271, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to another white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2399, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2383, "end_step": 2598, "id": "9a4e7381-3328-4f08-bcbe-e5a71c7978d3"}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2587, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it downwards."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 2599, "end_step": 2721, "id": "2894f746-2907-4f9b-9b10-2397b900e964"}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the green hexagonal block on the table."}, {"label": "goal", "start_step": 2722, "end_step": 2922, "id": "b6162a25-5e85-449f-bf8c-30805e8154b9"}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the green hexagonal block onto the purple rod and presses it down to fit securely."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2923, "end_step": 3054, "id": "7338958b-ff29-45ae-bb43-38977d682456"}, {"label": "subtasks", "start_step": 2940, "end_step": 2969, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2970, "end_step": 3074, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 3055, "end_step": 3684, "id": "1a0dc148-c366-4b9b-b8ac-b078134093aa"}, {"label": "subtasks", "start_step": 3075, "end_step": 3127, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3128, "end_step": 3149, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 3150, "end_step": 3247, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 3248, "end_step": 3434, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the purple rod and transports it toward the right area of the black tabletop."}, {"label": "subtasks", "start_step": 3435, "end_step": 3487, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white cylindrical block back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3488, "end_step": 3674, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the white cylindrical block onto the purple rod and presses it down to fully seat it in position."}, {"label": "subtasks", "start_step": 3675, "end_step": 3704, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 3685, "end_step": 3831, "id": "1cfa1c0b-f2c7-4627-812c-e68fd573ae9d"}, {"label": "subtasks", "start_step": 3705, "end_step": 3771, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats from the wooden base area to the right side."}, {"label": "subtasks", "start_step": 3772, "end_step": 3801, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3802, "end_step": 3861, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 3832, "end_step": 4020, "id": "20474500-091b-4d32-ad97-92fee4759c09"}, {"label": "subtasks", "start_step": 3862, "end_step": 3914, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand inserts the white hollow cylinder onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 4021, "end_step": 4293, "id": "b8b2c255-3a0f-4039-a31c-152de39aff76"}, {"label": "subtasks", "start_step": 4072, "end_step": 4311, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 4294, "end_step": 4662, "id": "3f1b62ee-69d0-4861-83d1-3e514510feb0"}, {"label": "subtasks", "start_step": 4312, "end_step": 4371, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 4372, "end_step": 4641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 4642, "end_step": 4649, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 4650, "end_step": 4671, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the top of the white bottle with purple tip on the right side of the wooden tray."}, {"label": "goal", "start_step": 4663, "end_step": 4779, "id": "e10cf936-7753-4c28-b418-6cb49fd3f4ba"}, {"label": "subtasks", "start_step": 4672, "end_step": 4731, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the area near the white bottle towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4732, "end_step": 4799, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 4780, "end_step": 5022, "id": "3b1394df-d060-497e-b329-0f236cab65db"}, {"label": "subtasks", "start_step": 4800, "end_step": 4859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic object from the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 4860, "end_step": 4934, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the green cubic object with the top of the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4935, "end_step": 5024, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_release: Right hand places the green cubic object onto the top of the white bottle and releases the grip."}, {"label": "home", "start_step": 5065, "end_step": 5097, "id": "rNttswlO2gUEZ0AlIZa5N"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the right side of the table towards the green block located in front of the wooden peg base."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green block on the table."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until it is completely off the support."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 967, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg repeatedly to push it tightly onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the green rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to fix it, then releases the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats upwards away from the assembled block and rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal sleeve with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1934, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the white hexagonal sleeve down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 2047, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden rack area to the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2271, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to another white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2399, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2587, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it downwards."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the green hexagonal block onto the purple rod and presses it down to fit securely."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2940, "end_step": 2969, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2970, "end_step": 3074, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3127, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3128, "end_step": 3149, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 3150, "end_step": 3247, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 3248, "end_step": 3434, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the purple rod and transports it toward the right area of the black tabletop."}, {"label": "subtasks", "start_step": 3435, "end_step": 3487, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white cylindrical block back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3488, "end_step": 3674, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the white cylindrical block onto the purple rod and presses it down to fully seat it in position."}, {"label": "subtasks", "start_step": 3675, "end_step": 3704, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 3705, "end_step": 3771, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats from the wooden base area to the right side."}, {"label": "subtasks", "start_step": 3772, "end_step": 3801, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3802, "end_step": 3861, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3862, "end_step": 3914, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand inserts the white hollow cylinder onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 4072, "end_step": 4311, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 4312, "end_step": 4371, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 4372, "end_step": 4641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 4642, "end_step": 4649, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 4650, "end_step": 4671, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the top of the white bottle with purple tip on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 4672, "end_step": 4731, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the area near the white bottle towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4732, "end_step": 4799, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4800, "end_step": 4859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic object from the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 4860, "end_step": 4934, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the green cubic object with the top of the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4935, "end_step": 5024, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_release: Right hand places the green cubic object onto the top of the white bottle and releases the grip."}], "episode_index": 10}
+{"source_uid": "c93f3e03d269d7d6", "num_frames": 3163, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed to the left of the wooden assembly base, with fingers open and extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 183, "id": "e5997057-40ed-408f-bea1-f10b0a800d06"}, {"label": "valid", "start_step": 0, "end_step": 3132, "id": "ZYQGOpvBeBye5koIobStc"}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block left of the wooden assembly base to establish a stable grip."}, {"label": "goal", "start_step": 184, "end_step": 378, "id": "110cc4b8-64c4-48e3-93c8-00106787bcdb"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark work surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block to align with the left purple peg on the wooden board, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden pegboard, releasing the block once the block is supported by the peg."}, {"label": "goal", "start_step": 379, "end_step": 567, "id": "f1c6b4a1-2f08-4d2f-bf95-76ccc40f1683"}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the pegboard area toward the white hexagonal nut resting on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, making slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "goal", "start_step": 568, "end_step": 717, "id": "69ab4f61-ad5d-4519-9d3b-b69258f553c4"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward to position it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "goal", "start_step": 718, "end_step": 828, "id": "7de9006c-e430-43d0-8489-a601d3a6b76f"}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger and wrist positions while closing fingers around the block to establish a stable grip."}, {"label": "goal", "start_step": 829, "end_step": 1011, "id": "fd8f5a01-9aa4-45e4-b29a-9ce9cc32bbc1"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod and lowers the block to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden stand without any observable movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves downward to place white capped cylindrical blocks onto the vertical pegs of the wooden base, until each block is stably supported by the pegs."}, {"label": "goal", "start_step": 1012, "end_step": 1158, "id": "a794c51a-ed7b-4898-b7e0-38b494aa4e1b"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block located on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block without any observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1326, "id": "38d3c48e-10f1-4fb2-8819-76fadc9d13e6"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and lowers the block to fit onto the rod, making small wrist adjustments to align the parts correctly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to set it onto the purple post on the wooden peg base, until the block rests stably on the base."}, {"label": "goal", "start_step": 1327, "end_step": 1419, "id": "8b777584-1214-43e6-880c-d47264b0d76f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark work surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1372, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusting finger positions to close around the block to form a stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1605, "id": "d8a1942a-5450-4cb6-a043-4b784208a043"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the work surface and transports it upward to the area above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the white hexagonal block beneath it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the green block, moves it downward to seat it on the matching green peg of the wooden block base, and releases the block with open fingers as the block becomes supported by the base."}, {"label": "goal", "start_step": 1606, "end_step": 1686, "id": "948e4f64-64a7-4527-9cc1-112fae11e5a5"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface in front of the block base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, making small adjustments to finger position to establish a grip on the block."}, {"label": "goal", "start_step": 1687, "end_step": 1842, "id": "6cf7d27e-da52-4a0d-91ce-51afcca4bdb5"}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted white cylindrical block upward and toward the wooden assembly base, positioning it directly above the target vertical mounting rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target vertical rod on the assembly stand, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white-and-green block, aligns it with the peg on the wooden base, lowers it until the block is supported by the base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 1843, "end_step": 1932, "id": "694add48-fb2e-4cba-a3fd-467f256d29dc"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward and to the right from the wooden base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand positions fingers around the loose white hexagonal block on the table and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the wooden block stand without moving."}, {"label": "goal", "start_step": 1933, "end_step": 2316, "id": "4b0d31d4-b556-41b4-8497-5da66b48ad67"}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block straight upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward to position it directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block partially fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, sliding it further down the purple rod to continue the fitting process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the area adjacent to the purple rod on the wooden block rack toward the white hexagonal block placed on the black table, fingers held slightly open during the movement."}, {"label": "goal", "start_step": 2317, "end_step": 2436, "id": "732e6dde-6882-4dab-b9d1-c4072a8fb54b"}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and making small adjustments to form a grip on the block."}, {"label": "goal", "start_step": 2437, "end_step": 2619, "id": "1241d578-a0c5-4d09-8ebc-0a7a8a8dd600"}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2609, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the position near the purple-topped cylinder on the wooden holder downward and to the right, approaching the green cubic block placed on the dark table surface."}, {"label": "goal", "start_step": 2620, "end_step": 2730, "id": "7a2e7128-331e-4ad3-bc6e-9ff44de2d2b7"}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its thumb and index finger positions around the green cubic block, with fingers slightly closing to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward off the black table surface."}, {"label": "goal", "start_step": 2731, "end_step": 3111, "id": "14a691b8-4fda-4785-a181-2efb7a61d20d"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position directly above the purple-capped bottle on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple cap of the target bottle, adjusting the block's orientation slightly to match the cap."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the aligned green block downward until it fits onto the bottle cap and is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 3097, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block steadily on top of the purple-capped bottle without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3098, "end_step": 3119, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains stable on the bottle."}, {"label": "home", "start_step": 3133, "end_step": 3162, "id": "IynwHcHtx4TUbRvPQ7ups"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed to the left of the wooden assembly base, with fingers open and extended during the movement."}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block left of the wooden assembly base to establish a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark work surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block to align with the left purple peg on the wooden board, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden pegboard, releasing the block once the block is supported by the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the pegboard area toward the white hexagonal nut resting on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, making slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward to position it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger and wrist positions while closing fingers around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod and lowers the block to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden stand without any observable movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves downward to place white capped cylindrical blocks onto the vertical pegs of the wooden base, until each block is stably supported by the pegs."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block located on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block without any observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and lowers the block to fit onto the rod, making small wrist adjustments to align the parts correctly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to set it onto the purple post on the wooden peg base, until the block rests stably on the base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark work surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1372, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusting finger positions to close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the work surface and transports it upward to the area above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the white hexagonal block beneath it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the green block, moves it downward to seat it on the matching green peg of the wooden block base, and releases the block with open fingers as the block becomes supported by the base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface in front of the block base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, making small adjustments to finger position to establish a grip on the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted white cylindrical block upward and toward the wooden assembly base, positioning it directly above the target vertical mounting rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target vertical rod on the assembly stand, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white-and-green block, aligns it with the peg on the wooden base, lowers it until the block is supported by the base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward and to the right from the wooden base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand positions fingers around the loose white hexagonal block on the table and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the wooden block stand without moving."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block straight upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward to position it directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block partially fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, sliding it further down the purple rod to continue the fitting process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the area adjacent to the purple rod on the wooden block rack toward the white hexagonal block placed on the black table, fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and making small adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2609, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the position near the purple-topped cylinder on the wooden holder downward and to the right, approaching the green cubic block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its thumb and index finger positions around the green cubic block, with fingers slightly closing to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward off the black table surface."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position directly above the purple-capped bottle on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple cap of the target bottle, adjusting the block's orientation slightly to match the cap."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the aligned green block downward until it fits onto the bottle cap and is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 3097, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block steadily on top of the purple-capped bottle without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3098, "end_step": 3119, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains stable on the bottle."}], "episode_index": 11}
+{"source_uid": "1432a5740616bc68", "num_frames": 2862, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position and stops. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "goal", "start_step": 0, "end_step": 276, "id": "74a1430e-f922-42e9-b38c-6c000b31ca6e"}, {"label": "valid", "start_step": 0, "end_step": 2831, "id": "jprnwOFGYJef4YCK1IKZa"}, {"label": "subtasks", "start_step": 38, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the left table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left table without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table, with fingers closing and adjusting to secure the block."}, {"label": "goal", "start_step": 277, "end_step": 444, "id": "80885dd2-5159-43ba-8a94-42b6fd09fbe7"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the dark table to the area above the leftmost peg on the wooden board."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 445, "end_step": 582, "id": "94dc608b-2989-473f-8a2a-e8574712e83d"}, {"label": "subtasks", "start_step": 450, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with closing and adjusting fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 583, "end_step": 795, "id": "89c7fea9-8f3c-42f1-89be-97ae6f22243d"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while moving it to the position above the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and moves it down to fit the block onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the leftmost purple peg to push it to the bottom of the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 796, "end_step": 906, "id": "704e8f8e-7fd3-40c6-a269-13c036427352"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 907, "end_step": 1068, "id": "6bb0e382-d15d-475a-b866-4c3575b0bd43"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white block on top of the leftmost vertical peg, with fingers opening."}, {"label": "goal", "start_step": 1069, "end_step": 1194, "id": "2331b6d1-f722-4800-841d-a93101866e07"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 1195, "end_step": 1494, "id": "53556bf2-43a0-4c1e-9675-f60894a11a27"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported by the block structure below."}, {"label": "subtasks", "start_step": 1358, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1495, "end_step": 1635, "id": "a497d1af-e423-43c5-bb27-61aec1331191"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 1636, "end_step": 1791, "id": "837adb18-8014-4d04-b639-645292b3040a"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle vertical peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the middle vertical peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto a vertical peg on the wooden base."}, {"label": "goal", "start_step": 1792, "end_step": 1899, "id": "82934e11-e5fa-4c66-a632-99df225972ee"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1900, "end_step": 2049, "id": "be1c73c3-49d1-4537-a69f-59b73ba5aece"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the rack and moves it downward to fit the object onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object fitted on the rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the building block set's peg and releases it."}, {"label": "goal", "start_step": 2050, "end_step": 2160, "id": "6dfdec93-3b6a-4092-a4e8-683c4e37f29e"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves empty toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2161, "end_step": 2319, "id": "b6864257-266b-43aa-bb96-acdbc9618a61"}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_place: Right hand aligns the white cylindrical block with the purple rod, fits it onto the rod, and lowers it to rest on the wooden board."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical block and moves away from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white cubic block on the black table surface."}, {"label": "goal", "start_step": 2320, "end_step": 2379, "id": "b30362fe-3ba5-4a20-bece-91c3edddf67e"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the white cubic block on the table to form a stable grasp, with slight finger position adjustment."}, {"label": "goal", "start_step": 2380, "end_step": 2532, "id": "32becbb3-08e7-404d-92a2-e688cee63f2c"}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table surface and transports it upward and leftward toward the wooden pegboard with the purple peg."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg on the wooden pegboard and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top part of the front-right white cylinder on the wooden rack downward."}, {"label": "goal", "start_step": 2533, "end_step": 2625, "id": "b4304bef-b40f-41f2-87b6-cd1e1d05c640"}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the table with empty hand."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp_lift: Right hand contacts the green cubic block on the table, closes fingers to grasp it, then lifts it upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2626, "end_step": 2802, "id": "85dc94ea-8701-431b-a347-48d5cdb9f7ac"}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it toward the white peg with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped white peg on the wooden base by aligning the block's hole and inserting downward."}, {"label": "home", "start_step": 2832, "end_step": 2861, "id": "hinzyb1tZABbEEJrJN752"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position and stops. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 38, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the left table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left table without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table, with fingers closing and adjusting to secure the block."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the dark table to the area above the leftmost peg on the wooden board."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 450, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with closing and adjusting fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while moving it to the position above the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and moves it down to fit the block onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the leftmost purple peg to push it to the bottom of the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white block on top of the leftmost vertical peg, with fingers opening."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported by the block structure below."}, {"label": "subtasks", "start_step": 1358, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle vertical peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the middle vertical peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto a vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the rack and moves it downward to fit the object onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object fitted on the rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the building block set's peg and releases it."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves empty toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_place: Right hand aligns the white cylindrical block with the purple rod, fits it onto the rod, and lowers it to rest on the wooden board."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical block and moves away from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the white cubic block on the table to form a stable grasp, with slight finger position adjustment."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table surface and transports it upward and leftward toward the wooden pegboard with the purple peg."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg on the wooden pegboard and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top part of the front-right white cylinder on the wooden rack downward."}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the table with empty hand."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp_lift: Right hand contacts the green cubic block on the table, closes fingers to grasp it, then lifts it upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it toward the white peg with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped white peg on the wooden base by aligning the block's hole and inserting downward."}], "episode_index": 12}
+{"source_uid": "1df51f71365be95f", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 309, "id": "c3fd716d-c49e-478d-be4f-f56d22c2faf2"}, {"label": "valid", "start_step": 0, "end_step": 2925, "id": "uaJ1KaV6Cx84DSh7LA6Rk"}, {"label": "subtasks", "start_step": 112, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the leftmost purple rod, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand holds the white cylinder and lifts it upward along the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 310, "end_step": 465, "id": "86272b9d-ed7d-4717-a78c-0615b43a83d1"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 466, "end_step": 594, "id": "399223e8-55dc-43c7-a105-4a5d31d85d1f"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop with fingers closing around it to adjust grip."}, {"label": "goal", "start_step": 595, "end_step": 768, "id": "f4233962-5725-4fc3-809c-bb410f8eb9db"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 769, "end_step": 873, "id": "aef3a89e-4cb4-4cba-b742-a4c95e19b44d"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 874, "end_step": 1017, "id": "4173bb37-0bda-4855-ab1d-532e0f60239a"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base peg, fingers open to separate from the block."}, {"label": "goal", "start_step": 1018, "end_step": 1161, "id": "be0c8dd2-e13f-4ee8-bd8a-6e892deaeca3"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical block near the bottom edge of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the small white cylindrical block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden tray."}, {"label": "goal", "start_step": 1162, "end_step": 1317, "id": "cb31b1d0-f83e-4ee9-a374-322422baa022"}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1318, "end_step": 1419, "id": "0ddca351-5616-4dea-bf0a-49d712f453f9"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats downward away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing and adjusting to form stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1572, "id": "ac9d744c-918a-438e-9e90-c08176074daf"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden tray by lowering it onto the rod."}, {"label": "goal", "start_step": 1573, "end_step": 1671, "id": "202ea7f0-b545-4492-b032-964970462d8e"}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1672, "end_step": 1869, "id": "fcfbae7b-f0ae-4591-9730-9c65166eaaaa"}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the target peg on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right black tabletop."}, {"label": "goal", "start_step": 1870, "end_step": 2007, "id": "39740d5a-dfbf-4a18-add3-eba3e41b15c3"}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2008, "end_step": 2157, "id": "b2bca7d5-5a4e-4ebd-9275-b7dd83a2b63d"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats away from the purple rod after releasing the cylinder."}, {"label": "goal", "start_step": 2158, "end_step": 2277, "id": "39468b1a-e4be-43c9-82c1-3fd152dd15fa"}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2301, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2278, "end_step": 2433, "id": "a5b27473-9041-4a70-82ca-6e476700ef4a"}, {"label": "subtasks", "start_step": 2302, "end_step": 2347, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the tabletop and moves it towards the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder which is placed on the purple rod of the wooden tray."}, {"label": "goal", "start_step": 2434, "end_step": 2589, "id": "428fbdbc-bda7-4c7c-9c8a-cb81637ab040"}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2601, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2590, "end_step": 2889, "id": "dedcc4dd-da01-4681-8eb8-0ebc026784a6"}, {"label": "subtasks", "start_step": 2602, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2715, "end_step": 2871, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white bottle to the target position."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the green block from grasp."}, {"label": "home", "start_step": 2926, "end_step": 2955, "id": "J9yOi3vSKUYbJFZGuJI3W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the leftmost purple rod, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand holds the white cylinder and lifts it upward along the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop with fingers closing around it to adjust grip."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base peg, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical block near the bottom edge of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the small white cylindrical block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats downward away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing and adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden tray by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the target peg on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right black tabletop."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats away from the purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2301, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2302, "end_step": 2347, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the tabletop and moves it towards the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder which is placed on the purple rod of the wooden tray."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2601, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2602, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2715, "end_step": 2871, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white bottle to the target position."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the green block from grasp."}], "episode_index": 13}
+{"source_uid": "328f0af5c965acdc", "num_frames": 2927, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal block in front of the wooden peg base, with fingers extended, not yet contacting the target block."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "e044a777-e756-4254-ac22-97b607ac7d4b"}, {"label": "valid", "start_step": 0, "end_step": 2895, "id": "wgMExWALjhnK_YbvKkyUG"}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green hexagonal block resting on the dark table near the wooden pegboard."}, {"label": "goal", "start_step": 187, "end_step": 339, "id": "ae2ac625-c25e-4977-9072-e5f8d77649fe"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden board and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block onto a purple peg of the wooden pegboard until the block rests on underlying blocks, opens fingers to release grip on the green block."}, {"label": "goal", "start_step": 340, "end_step": 477, "id": "dc2bf782-5010-4ed9-b89f-823b8b914c26"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal block placed on the table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, makes small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface in a stable grip, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 478, "end_step": 639, "id": "35fb929a-fcb4-4824-ade9-fb01617f96e8"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to the position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, slides the block down the rod and adjusts its position to complete the nesting assembly on top of the green block below."}, {"label": "goal", "start_step": 640, "end_step": 762, "id": "41af9317-5bbe-4e2a-8ab7-9ac0318b8d6e"}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downwards towards the front-left white hexagonal block on the dark work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block, making slight adjustments to finger contact points to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 763, "end_step": 969, "id": "694a8231-6ad8-460f-a8a7-4be2d6948b95"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the unoccupied purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 810, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and slides the nut down the rod to fit into the assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns and fits the white block onto the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 970, "end_step": 1083, "id": "4e50e1a5-7366-43a0-94b4-6a5bffeec8a6"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_reach: Right hand releases the fitted white block on the purple rod and moves downward empty toward the adjacent white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, adjusting finger contact positions to establish a stable grasp."}, {"label": "goal", "start_step": 1084, "end_step": 1230, "id": "957ccf95-eaa3-447f-b741-4d99cbdd136e"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg, lowering the block to fit it onto the peg during assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple vertical peg without observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the front green hexagonal block on the dark table surface, keeping fingers open while approaching the target."}, {"label": "goal", "start_step": 1231, "end_step": 1311, "id": "ee3af3eb-abe0-4b36-9f5c-c1440233ce0a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the front green hexagonal block on the table, closing fingers to make contact and form a stable grasp on the block."}, {"label": "goal", "start_step": 1312, "end_step": 1464, "id": "6745f0de-e5b6-4412-9b63-253a50044d76"}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the purple rod on the wooden block base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block to slide it onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "goal", "start_step": 1465, "end_step": 1548, "id": "0e659b75-f56d-48b6-8d72-b4c9c76cb887"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed near the green block on the table, approaching the target nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, fingers close and adjust contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "goal", "start_step": 1549, "end_step": 1692, "id": "94e04913-5934-4072-ad1d-195a9988a880"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the wooden block rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the top white cylinder on the wooden assembly base, breaking contact with the object."}, {"label": "goal", "start_step": 1693, "end_step": 1779, "id": "43d981c9-01a5-431c-a3e3-fcd950b47ed6"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward to approach the small white hollow cylinder on the table near the assembly base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small white hollow cylinder on the table, making fine adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1780, "end_step": 1890, "id": "9aeaf6d1-1983-4ef4-bbc4-45bde6b79175"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transporting it upward to a position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, moving the block downward to fit onto the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block seated on the purple rod, moving slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, with fingers slightly extended, without touching the block."}, {"label": "goal", "start_step": 1891, "end_step": 1965, "id": "323feb23-5e27-4295-b162-57a70ccbb884"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a grasp, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without obvious movement or hand shape change."}, {"label": "goal", "start_step": 1966, "end_step": 2175, "id": "596f21a1-b79f-4d77-a9ca-5216ba892396"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark-colored table surface, and moves it upward and leftward to the position above the empty slot on the light wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the wooden block rack, inserts the block into the slot to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand releases the white bottle with a purple cap placed on the wooden tray, fingers opening to separate from the bottle surface."}, {"label": "goal", "start_step": 2176, "end_step": 2283, "id": "563ce16a-e492-45a1-8ad7-d69e70961176"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green square block, fingers gradually closing to establish contact with the block which stays on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand grips the green cubic block resting on the right black tabletop and lifts it upward until the block is completely separated from the table surface."}, {"label": "goal", "start_step": 2284, "end_step": 2871, "id": "8f159f65-df9b-4bc0-b860-f76a69366f8f"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block, moving it upward and rightward to the position directly above the purple post on the wooden block tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green cubic block, aligns its central hole with the purple post, and fits the block down onto the post until the block is supported by underlying objects."}, {"label": "subtasks", "start_step": 2722, "end_step": 2857, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand maintains grip on the green cubic block fitted on the purple post, making slight finger and wrist adjustments to stabilize the block's placement."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green cubic block, fully separating the hand from the placed block."}, {"label": "home", "start_step": 2896, "end_step": 2926, "id": "YQ9hYw3TTza2R73qP4_iQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal block in front of the wooden peg base, with fingers extended, not yet contacting the target block."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green hexagonal block resting on the dark table near the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden board and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block onto a purple peg of the wooden pegboard until the block rests on underlying blocks, opens fingers to release grip on the green block."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal block placed on the table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, makes small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface in a stable grip, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to the position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, slides the block down the rod and adjusts its position to complete the nesting assembly on top of the green block below."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downwards towards the front-left white hexagonal block on the dark work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block, making slight adjustments to finger contact points to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the unoccupied purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 810, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and slides the nut down the rod to fit into the assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns and fits the white block onto the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_reach: Right hand releases the fitted white block on the purple rod and moves downward empty toward the adjacent white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg, lowering the block to fit it onto the peg during assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple vertical peg without observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the front green hexagonal block on the dark table surface, keeping fingers open while approaching the target."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the front green hexagonal block on the table, closing fingers to make contact and form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the purple rod on the wooden block base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block to slide it onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed near the green block on the table, approaching the target nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, fingers close and adjust contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the wooden block rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the top white cylinder on the wooden assembly base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward to approach the small white hollow cylinder on the table near the assembly base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small white hollow cylinder on the table, making fine adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transporting it upward to a position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, moving the block downward to fit onto the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block seated on the purple rod, moving slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, with fingers slightly extended, without touching the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a grasp, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without obvious movement or hand shape change."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark-colored table surface, and moves it upward and leftward to the position above the empty slot on the light wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the wooden block rack, inserts the block into the slot to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand releases the white bottle with a purple cap placed on the wooden tray, fingers opening to separate from the bottle surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green square block, fingers gradually closing to establish contact with the block which stays on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand grips the green cubic block resting on the right black tabletop and lifts it upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block, moving it upward and rightward to the position directly above the purple post on the wooden block tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green cubic block, aligns its central hole with the purple post, and fits the block down onto the post until the block is supported by underlying objects."}, {"label": "subtasks", "start_step": 2722, "end_step": 2857, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand maintains grip on the green cubic block fitted on the purple post, making slight finger and wrist adjustments to stabilize the block's placement."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green cubic block, fully separating the hand from the placed block."}], "episode_index": 14}
+{"source_uid": "14df67aefc306186", "num_frames": 4716, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block located on the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "d653ed38-d4a2-412d-a83d-e7000f94eb33"}, {"label": "valid", "start_step": 0, "end_step": 4685, "id": "QkyUBGpG7OpnewPK9tqjF"}, {"label": "subtasks", "start_step": 112, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left of the wooden pegboard, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green cubic block from the dark table surface."}, {"label": "goal", "start_step": 169, "end_step": 375, "id": "a3a14eb7-5a55-40d5-95bf-9c8e7171d417"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand fits the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left-front purple peg of the wooden base."}, {"label": "goal", "start_step": 376, "end_step": 489, "id": "5d52d07c-ff4d-4d86-a648-9d5db652bd62"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front-left area of the table."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 490, "end_step": 753, "id": "ac07ce6b-eb2b-4d1b-9641-c468857c8b28"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it backward and upward to above the front-left purple peg on the wooden board."}, {"label": "subtasks", "start_step": 525, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg and inserts it downward onto the peg, adjusting the part's position during assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening to release the grip."}, {"label": "goal", "start_step": 754, "end_step": 885, "id": "80703a3b-b717-4195-9e4f-a6fa1d7b15a3"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downwards from the wooden base area toward the white hexagonal block on the left side of the workbench surface."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench surface without any observable movement."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 886, "end_step": 1074, "id": "d868fa82-a77f-4f7c-ab05-3ea846507b04"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 938, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the wooden rack and moves it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the middle purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1075, "end_step": 1683, "id": "d459bac5-805b-4285-a0b1-3b19e71db6c7"}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release_reach: Right hand releases the white hexagonal block from the middle purple peg and moves downward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: push: Right hand pushes the fallen white hexagonal block leftward across the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "goal", "start_step": 1684, "end_step": 1881, "id": "40e7e15f-f430-4173-ad82-3e9b91750054"}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning the part's hole with the peg and lowering it to fit in place."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hexagonal part fitted on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple rod and releases the block."}, {"label": "goal", "start_step": 1882, "end_step": 1995, "id": "61bce51f-e661-4562-a98a-13e75a7dd444"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1996, "end_step": 2169, "id": "af9da33e-cfed-4a39-b367-044fa7dbfba1"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the position above the wooden peg board."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden board."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white hollow block with the post on the green block of the block tower and releases it."}, {"label": "goal", "start_step": 2170, "end_step": 2301, "id": "a0dcbf26-425e-4f16-b33b-5cfacad5862a"}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table below the block tower."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2302, "end_step": 2457, "id": "b6709577-0ed6-4e95-9d94-e5701060117f"}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upward and leftward toward the wooden block rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the green peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hollow block on the block set peg, with fingers opening from a closed position."}, {"label": "goal", "start_step": 2458, "end_step": 2595, "id": "bcefbabe-6424-4d28-9fc7-ac4f1b4b90f7"}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "goal", "start_step": 2596, "end_step": 2748, "id": "8227272a-56bd-467d-b94a-f6a1ac25f21a"}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical rod and inserts the block downward along the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper block set area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 2749, "end_step": 2847, "id": "34f5a96f-e520-4196-aa3c-cc0d519342a3"}, {"label": "subtasks", "start_step": 2790, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2848, "end_step": 2970, "id": "20f77747-7a88-4e37-bf3c-601c6774c6cc"}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple rod on the rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: retreat: Right hand retreats upward away from the white block on the purple rod."}, {"label": "goal", "start_step": 2971, "end_step": 4512, "id": "3a5fcce2-eeda-446a-86da-b2bac5669353"}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 3060, "end_step": 3081, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3128, "end_step": 3284, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns and fits the green cube onto a white bottle, making small adjustments to the cube's position during mating."}, {"label": "subtasks", "start_step": 3285, "end_step": 3299, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube upward off the top of the white bottle."}, {"label": "subtasks", "start_step": 3300, "end_step": 3337, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube downward to the table and places it on the table surface."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 3352, "end_step": 3374, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3471, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 3472, "end_step": 3487, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube up from the table surface."}, {"label": "subtasks", "start_step": 3488, "end_step": 3517, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3518, "end_step": 4154, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand adjusts the green cube on a white bottle for mating, and releases its grip causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 4222, "end_step": 4327, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 4328, "end_step": 4341, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube slightly off the table surface."}, {"label": "subtasks", "start_step": 4342, "end_step": 4394, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube slightly and places it back on the table surface."}, {"label": "subtasks", "start_step": 4395, "end_step": 4409, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 4410, "end_step": 4499, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4500, "end_step": 4537, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 4513, "end_step": 4658, "id": "e27a5212-99d6-4fce-a0ed-ff53dd4aa98c"}, {"label": "subtasks", "start_step": 4538, "end_step": 4567, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block from the dark table to the position above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4568, "end_step": 4611, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped bottle by aligning the block's hole with the bottle top and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 4612, "end_step": 4664, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block on the purple-topped bottle without moving."}, {"label": "home", "start_step": 4686, "end_step": 4715, "id": "wnT_pQHvQMUAAfo2EgKn6"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block located on the left side of the wooden pegboard."}, {"label": "subtasks", "start_step": 112, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left of the wooden pegboard, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green cubic block from the dark table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand fits the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front-left area of the table."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it backward and upward to above the front-left purple peg on the wooden board."}, {"label": "subtasks", "start_step": 525, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg and inserts it downward onto the peg, adjusting the part's position during assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downwards from the wooden base area toward the white hexagonal block on the left side of the workbench surface."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench surface without any observable movement."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 938, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the wooden rack and moves it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the middle purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release_reach: Right hand releases the white hexagonal block from the middle purple peg and moves downward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: push: Right hand pushes the fallen white hexagonal block leftward across the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning the part's hole with the peg and lowering it to fit in place."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hexagonal part fitted on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple rod and releases the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the position above the wooden peg board."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden board."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white hollow block with the post on the green block of the block tower and releases it."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table below the block tower."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upward and leftward toward the wooden block rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the green peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hollow block on the block set peg, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical rod and inserts the block downward along the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper block set area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple rod on the rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: retreat: Right hand retreats upward away from the white block on the purple rod."}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 3060, "end_step": 3081, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3128, "end_step": 3284, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns and fits the green cube onto a white bottle, making small adjustments to the cube's position during mating."}, {"label": "subtasks", "start_step": 3285, "end_step": 3299, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube upward off the top of the white bottle."}, {"label": "subtasks", "start_step": 3300, "end_step": 3337, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube downward to the table and places it on the table surface."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 3352, "end_step": 3374, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3471, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 3472, "end_step": 3487, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube up from the table surface."}, {"label": "subtasks", "start_step": 3488, "end_step": 3517, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3518, "end_step": 4154, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand adjusts the green cube on a white bottle for mating, and releases its grip causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 4222, "end_step": 4327, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 4328, "end_step": 4341, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube slightly off the table surface."}, {"label": "subtasks", "start_step": 4342, "end_step": 4394, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube slightly and places it back on the table surface."}, {"label": "subtasks", "start_step": 4395, "end_step": 4409, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 4410, "end_step": 4499, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4500, "end_step": 4537, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 4538, "end_step": 4567, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block from the dark table to the position above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4568, "end_step": 4611, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped bottle by aligning the block's hole with the bottle top and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 4612, "end_step": 4664, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block on the purple-topped bottle without moving."}], "episode_index": 15}
+{"source_uid": "7ebd8556fe83244d", "num_frames": 3224, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the table in front of the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 218, "id": "d90765a8-147e-4bce-afd0-8d583834d1d6"}, {"label": "valid", "start_step": 0, "end_step": 3188, "id": "Tm1upEKHnPT66Rhxtj-OL"}, {"label": "subtasks", "start_step": 120, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 219, "end_step": 365, "id": "17ebb417-9d6d-4b39-80ff-65d73c71cab4"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and moves it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is now mounted on the purple peg."}, {"label": "goal", "start_step": 366, "end_step": 464, "id": "bc1d80d7-47b6-448d-a38a-856444c071d5"}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal object placed on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 465, "end_step": 686, "id": "4c854bbe-9068-4cbd-a297-904da9f825d0"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and fits the block onto the post."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to the bottom position."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 687, "end_step": 815, "id": "50b22b0c-b280-4e42-ad22-e0ebf0482534"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white cube placed on the black table surface."}, {"label": "goal", "start_step": 816, "end_step": 953, "id": "42bf9d6e-dd8e-43dc-abe8-10de0bfb34d3"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and moves it towards the target purple rod on the storage rack."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cube with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 954, "end_step": 1103, "id": "f2bab397-14b6-49c9-8c63-36a04be0bfa0"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1131, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1104, "end_step": 1253, "id": "070fecd1-bfff-4c8d-b94a-388770cdf3b5"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it tightly in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1254, "end_step": 1355, "id": "6863ac6a-2a11-4684-9c2c-ec28467ea1d0"}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustments to stabilize the block."}, {"label": "goal", "start_step": 1356, "end_step": 1532, "id": "7878435d-d9bd-446b-ac92-c17cce600688"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target purple rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green square block along the purple rod until it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1533, "end_step": 1838, "id": "de2ce57f-7a8c-45d4-bd08-23e484ba7b64"}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the held white hexagonal block to adjust its orientation, with little position change."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the reoriented white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 1839, "end_step": 2180, "id": "19a85aee-c84a-4f15-aa30-01f1704af181"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the target peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 1928, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "goal", "start_step": 2181, "end_step": 2306, "id": "8eacd8a6-c666-4f9d-be2b-443cb0872d15"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward empty, approaching the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight hand posture adjustment to stabilize the grip."}, {"label": "goal", "start_step": 2307, "end_step": 2465, "id": "15cd0c9e-70f3-4cb9-841a-3170c3ef0d46"}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the desktop."}, {"label": "goal", "start_step": 2466, "end_step": 2561, "id": "a1d46698-5ec9-4a11-81e7-0b56acbb70e4"}, {"label": "subtasks", "start_step": 2498, "end_step": 2579, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the desktop."}, {"label": "goal", "start_step": 2562, "end_step": 2828, "id": "91271e97-93a2-4cc7-8882-e849195b8a11"}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the tabletop and moves it to the position above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2819, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block downwards to secure it in the slot of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2849, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the wooden block rack."}, {"label": "goal", "start_step": 2829, "end_step": 2945, "id": "00285fc2-dcd7-4c23-83b8-64a355d68916"}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the black table."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table."}, {"label": "goal", "start_step": 2946, "end_step": 3161, "id": "69d6bc4f-ef60-40a5-bb48-1ee24b51c093"}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with purple cap and inserts it onto the bottle to finish assembly."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "home", "start_step": 3189, "end_step": 3223, "id": "Zd3q2e0E2oFtUwN7otDzE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the table in front of the left side of the wooden rack."}, {"label": "subtasks", "start_step": 120, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and moves it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is now mounted on the purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal object placed on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and fits the block onto the post."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to the bottom position."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white cube placed on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and moves it towards the target purple rod on the storage rack."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cube with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1131, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it tightly in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustments to stabilize the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target purple rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green square block along the purple rod until it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the held white hexagonal block to adjust its orientation, with little position change."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the reoriented white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the target peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 1928, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward empty, approaching the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight hand posture adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 2498, "end_step": 2579, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the tabletop and moves it to the position above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2819, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block downwards to secure it in the slot of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2849, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the wooden block rack."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the black table."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with purple cap and inserts it onto the bottle to finish assembly."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}], "episode_index": 16}
+{"source_uid": "597e4a4ed9928f16", "num_frames": 3890, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side of the table downward and leftward toward the green hexagonal block placed in front of the wooden pegboard, with fingers held extended."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "00bf2e36-8576-4bf4-a568-f2a99943e66a"}, {"label": "valid", "start_step": 0, "end_step": 3859, "id": "Db7t_oDHG3zEuQb07zwDb"}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and wrist orientation slightly to establish a stable grip on the block."}, {"label": "goal", "start_step": 214, "end_step": 387, "id": "f6cf3570-a2f8-431c-836b-4453fa013f01"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green block, moves it downward along the leftmost purple peg to the wooden base, and opens fingers to release the block onto the base."}, {"label": "goal", "start_step": 388, "end_step": 477, "id": "85a3048a-4b02-4c34-aa07-ec7f0e405339"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward from the pegboard area toward the front-left white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 428, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block, closes fingers around the block and makes small positional adjustments to establish a stable grip."}, {"label": "goal", "start_step": 478, "end_step": 819, "id": "59e2fa26-a611-4feb-b52f-38cc12eeb9f5"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple peg and fits the nut onto the peg to begin assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: press: Right hand applies downward pressure on the white hexagonal nut, making small orientation adjustments to slide the nut further down the purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the leftmost white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 820, "end_step": 978, "id": "977cdbc9-deb4-4259-b5d7-176b5b68d511"}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving, maintaining a stable, motionless grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 979, "end_step": 1260, "id": "830845a3-3f71-4807-85e2-47ba77b7db16"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1297, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and moves the block downward to fit it onto the rod."}, {"label": "goal", "start_step": 1261, "end_step": 1383, "id": "15fd976b-685b-49a8-b8b3-4b0b6ffe5b10"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden stand area toward the white hexagonal block placed on the table in front of the stand, with no contact made to the target block yet."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block and makes slight wrist and finger adjustments to establish a stable grip, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1384, "end_step": 1560, "id": "15e626fa-0a87-4903-85b0-1200b0d2d808"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1544, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand makes slight positional and orientational adjustments to the white hexagonal cylinder to align its central hole with the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal cylinder down along the purple peg until it rests stably on the supporting block below on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the black table surface, with fingers kept open."}, {"label": "goal", "start_step": 1561, "end_step": 1755, "id": "730d7522-b790-40e4-84af-6545b8921774"}, {"label": "subtasks", "start_step": 1598, "end_step": 1769, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger and wrist positions around the green hexagonal block, closing fingers gradually to attempt establishing a stable grip on the block."}, {"label": "goal", "start_step": 1756, "end_step": 1911, "id": "dc5927cd-4950-415f-a428-d8db89665709"}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns and presses it down to fit onto the purple rod of the wooden block base."}, {"label": "goal", "start_step": 1912, "end_step": 2010, "id": "f4783581-01d4-4fa1-a8b8-dc2351a5aea7"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base area, approaching the white hexagonal block placed on the table near the loose green block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block with minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block is fully separated from the dark work surface."}, {"label": "goal", "start_step": 2011, "end_step": 2190, "id": "b77a164b-65f5-42e7-8866-76f84e21f748"}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts its position slightly, and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, fingers gradually opening to separate fully from the block."}, {"label": "goal", "start_step": 2191, "end_step": 2328, "id": "61551c9e-92b4-478d-bbe7-28c775b88b4d"}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block placed near the wooden base without touching the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger position adjustments to establish a grasp, while the block stays stationary on the table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 2329, "end_step": 2472, "id": "3085f243-5152-4468-893b-9af8dc85f495"}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand moves downward to place the grasped white hexagonal block onto the base of the purple rod on the wooden pegboard, until the block is fully supported by the base."}, {"label": "goal", "start_step": 2473, "end_step": 2589, "id": "a73f52ec-cf23-4251-8272-ed0f02ad9772"}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod base, separating fingers from the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty rightward and downward toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making small finger adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block steadily on the right side of the table surface without observable movement."}, {"label": "goal", "start_step": 2590, "end_step": 2733, "id": "c2b4e223-6f1e-4349-be45-1f9fa5b7a3f4"}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden block holder and moves it downward to insert the block into the slot."}, {"label": "subtasks", "start_step": 2730, "end_step": 2797, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the upper area of the wooden bottle rack downward and rightward toward the green cube placed on the dark table surface."}, {"label": "goal", "start_step": 2734, "end_step": 3342, "id": "c6745973-8fc5-411c-905c-89e60caddc79"}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cube on the dark table surface to form a stable grip, with the cube remaining in contact with the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube upward and leftward through the air to position it directly above the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2888, "end_step": 3021, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the grasped green cube to align its central hole with the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3022, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green cube above the purple-topped bottle on the wooden rack without any observable movement of the hand or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3247, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube downward and rightward through the air away from the bottle rack, moving back toward the green cube's original position on the table."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the green cube until it rests stably on the dark table surface, opening its fingers to release the grip on the cube."}, {"label": "subtasks", "start_step": 3270, "end_step": 3291, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty a short distance away from the green cube resting on the table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3329, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: idle: Right hand remains empty at a position adjacent to the green cube on the table, with no observable movement."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 3343, "end_step": 3834, "id": "19b7fba5-9e53-4945-a233-f4d5a642f311"}, {"label": "subtasks", "start_step": 3368, "end_step": 3381, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the green hexagonal block upward to completely raise it off the table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3427, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the held green hexagonal block upward and forward to position it above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 3428, "end_step": 3584, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block stationary in the air directly above the purple peg on the wooden stand without moving."}, {"label": "subtasks", "start_step": 3585, "end_step": 3607, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted green hexagonal block on the purple peg without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 3795, "end_step": 3839, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the grip on the green hexagonal block resting on the purple peg."}, {"label": "home", "start_step": 3860, "end_step": 3889, "id": "ua_f10J7I7WP997SKJULy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side of the table downward and leftward toward the green hexagonal block placed in front of the wooden pegboard, with fingers held extended."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and wrist orientation slightly to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green block, moves it downward along the leftmost purple peg to the wooden base, and opens fingers to release the block onto the base."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward from the pegboard area toward the front-left white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 428, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block, closes fingers around the block and makes small positional adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple peg and fits the nut onto the peg to begin assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: press: Right hand applies downward pressure on the white hexagonal nut, making small orientation adjustments to slide the nut further down the purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the leftmost white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving, maintaining a stable, motionless grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1297, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden stand area toward the white hexagonal block placed on the table in front of the stand, with no contact made to the target block yet."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block and makes slight wrist and finger adjustments to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1544, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand makes slight positional and orientational adjustments to the white hexagonal cylinder to align its central hole with the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal cylinder down along the purple peg until it rests stably on the supporting block below on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 1598, "end_step": 1769, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger and wrist positions around the green hexagonal block, closing fingers gradually to attempt establishing a stable grip on the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns and presses it down to fit onto the purple rod of the wooden block base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base area, approaching the white hexagonal block placed on the table near the loose green block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block with minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block is fully separated from the dark work surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts its position slightly, and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, fingers gradually opening to separate fully from the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block placed near the wooden base without touching the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger position adjustments to establish a grasp, while the block stays stationary on the table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand moves downward to place the grasped white hexagonal block onto the base of the purple rod on the wooden pegboard, until the block is fully supported by the base."}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod base, separating fingers from the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty rightward and downward toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making small finger adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block steadily on the right side of the table surface without observable movement."}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden block holder and moves it downward to insert the block into the slot."}, {"label": "subtasks", "start_step": 2730, "end_step": 2797, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the upper area of the wooden bottle rack downward and rightward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cube on the dark table surface to form a stable grip, with the cube remaining in contact with the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube upward and leftward through the air to position it directly above the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2888, "end_step": 3021, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the grasped green cube to align its central hole with the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3022, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green cube above the purple-topped bottle on the wooden rack without any observable movement of the hand or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3247, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube downward and rightward through the air away from the bottle rack, moving back toward the green cube's original position on the table."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the green cube until it rests stably on the dark table surface, opening its fingers to release the grip on the cube."}, {"label": "subtasks", "start_step": 3270, "end_step": 3291, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty a short distance away from the green cube resting on the table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3329, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: idle: Right hand remains empty at a position adjacent to the green cube on the table, with no observable movement."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 3368, "end_step": 3381, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the green hexagonal block upward to completely raise it off the table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3427, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the held green hexagonal block upward and forward to position it above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 3428, "end_step": 3584, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block stationary in the air directly above the purple peg on the wooden stand without moving."}, {"label": "subtasks", "start_step": 3585, "end_step": 3607, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted green hexagonal block on the purple peg without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 3795, "end_step": 3839, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the grip on the green hexagonal block resting on the purple peg."}], "episode_index": 17}
+{"source_uid": "3c914e601ce8a771", "num_frames": 4033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the black table surface, without touching the block."}, {"label": "goal", "start_step": 0, "end_step": 889, "id": "9a7f0f4c-0215-478c-9b78-dcfa7b966059"}, {"label": "valid", "start_step": 0, "end_step": 4001, "id": "XOZ_JdMEMu0hy57S7dJ1V"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block that has fallen onto the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand reorients the green hexagonal block on the black table, rotating the block to adjust its posture while its position remains mostly unchanged."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 890, "end_step": 1027, "id": "7a6ca938-c669-439c-bbee-1de6b445b342"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block upward off the dark table surface and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and lowers it along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1028, "end_step": 1300, "id": "03d05efe-7901-407f-bbdd-27a60c229358"}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table directly below the leftmost purple rod, keeping empty."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the white hexagonal block and moves it upward to align and fit onto the leftmost purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1301, "end_step": 1459, "id": "4645c931-5891-4cd0-aff2-2dd3d6cbaab2"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and leftward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and inserts the block downward along the peg to assemble with the green block below."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and moving slightly upward."}, {"label": "goal", "start_step": 1460, "end_step": 1570, "id": "30a01df9-89ac-4168-ab25-a34d6e865f21"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1571, "end_step": 1750, "id": "f9f0d3a9-ced6-4a97-b4b8-d63c08af5ffa"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece off the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1739, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with a purple peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the frontmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1751, "end_step": 1873, "id": "f1285740-f6c5-4407-841b-9e0eecff69ea"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the green square block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the green block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1874, "end_step": 2038, "id": "b5076fed-1ebd-425e-863f-485c50618d6f"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table next to the green block without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cubic block onto the middle purple peg of the wooden base, then opens fingers to release the block."}, {"label": "goal", "start_step": 2039, "end_step": 2158, "id": "f8a23d23-54c2-4525-9002-a16ca097c235"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg assembly area toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2181, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2159, "end_step": 2308, "id": "499ed6c5-6660-412f-b4a7-052dd291e4c0"}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target vertical peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white block onto the purple vertical rod on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2309, "end_step": 2407, "id": "37a2a9c5-46b1-4385-b7da-f0412be248f7"}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2408, "end_step": 2560, "id": "ddbdb51e-c7ba-4719-846d-f66fbb9ebdbb"}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it toward the peg board at the back of the frame."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the peg on the peg board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg of the board without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block with the purple vertical rod and releases its grasp."}, {"label": "goal", "start_step": 2561, "end_step": 2668, "id": "edce2e1b-bae2-41c7-bd38-d439da998608"}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 2669, "end_step": 2818, "id": "dd775d7e-3b56-4b98-a984-fa254b848501"}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod on the wooden rack and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2798, "end_step": 2804, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2805, "end_step": 2841, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand adjusts the white block on the purple rod to complete assembly, then releases the block."}, {"label": "goal", "start_step": 2819, "end_step": 3514, "id": "6d2e2968-45f1-426c-9b5c-ad555d2f8c18"}, {"label": "subtasks", "start_step": 2842, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up until it leaves the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3021, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves up and left to the position above the purple rod."}, {"label": "subtasks", "start_step": 3022, "end_step": 3119, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod, lowers it onto the rod, and adjusts the position to complete the nesting assembly."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the purple rod."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left towards the white block on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3239, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the wooden rack, and slightly adjusts the grip."}, {"label": "subtasks", "start_step": 3240, "end_step": 3254, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up until it leaves the support of the wooden rack."}, {"label": "subtasks", "start_step": 3255, "end_step": 3314, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves down and right to the position above the table surface."}, {"label": "subtasks", "start_step": 3315, "end_step": 3329, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the table surface until it is stably supported by the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the table."}, {"label": "subtasks", "start_step": 3345, "end_step": 3397, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves to the other side of the white block on the table, approaching the block again."}, {"label": "subtasks", "start_step": 3398, "end_step": 3457, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the table again, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 3458, "end_step": 3509, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without any observable movement."}, {"label": "subtasks", "start_step": 3510, "end_step": 3531, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the right side of the table, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 3515, "end_step": 3679, "id": "2ccdbaca-5677-45d2-9f6d-f9ab9660af1b"}, {"label": "subtasks", "start_step": 3532, "end_step": 3561, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3562, "end_step": 3674, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 3675, "end_step": 3689, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 3680, "end_step": 3772, "id": "5f2ae61e-53b5-4f0c-b008-78055946fe23"}, {"label": "subtasks", "start_step": 3690, "end_step": 3727, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the small purple object on the top of the white bottle at the wooden rack, then reaches toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3728, "end_step": 3794, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3773, "end_step": 3973, "id": "dabe7053-b9a0-402e-80c4-2d8ca6c2a76c"}, {"label": "subtasks", "start_step": 3795, "end_step": 3824, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white rack with cylindrical posts at the table center."}, {"label": "subtasks", "start_step": 3825, "end_step": 3877, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top-right post of the white rack and inserts it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 3878, "end_step": 3974, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top-right post of the white rack without moving."}, {"label": "home", "start_step": 4002, "end_step": 4032, "id": "PbK_a5rCtovamWbDM5slH"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the black table surface, without touching the block."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block that has fallen onto the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand reorients the green hexagonal block on the black table, rotating the block to adjust its posture while its position remains mostly unchanged."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block upward off the dark table surface and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and lowers it along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table directly below the leftmost purple rod, keeping empty."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the white hexagonal block and moves it upward to align and fit onto the leftmost purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and leftward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and inserts the block downward along the peg to assemble with the green block below."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and moving slightly upward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece off the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1739, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with a purple peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the frontmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the green square block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the green block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table next to the green block without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cubic block onto the middle purple peg of the wooden base, then opens fingers to release the block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg assembly area toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2181, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target vertical peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white block onto the purple vertical rod on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it toward the peg board at the back of the frame."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the peg on the peg board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg of the board without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block with the purple vertical rod and releases its grasp."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod on the wooden rack and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2798, "end_step": 2804, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2805, "end_step": 2841, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand adjusts the white block on the purple rod to complete assembly, then releases the block."}, {"label": "subtasks", "start_step": 2842, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up until it leaves the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3021, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves up and left to the position above the purple rod."}, {"label": "subtasks", "start_step": 3022, "end_step": 3119, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod, lowers it onto the rod, and adjusts the position to complete the nesting assembly."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the purple rod."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left towards the white block on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3239, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the wooden rack, and slightly adjusts the grip."}, {"label": "subtasks", "start_step": 3240, "end_step": 3254, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up until it leaves the support of the wooden rack."}, {"label": "subtasks", "start_step": 3255, "end_step": 3314, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves down and right to the position above the table surface."}, {"label": "subtasks", "start_step": 3315, "end_step": 3329, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the table surface until it is stably supported by the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the table."}, {"label": "subtasks", "start_step": 3345, "end_step": 3397, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves to the other side of the white block on the table, approaching the block again."}, {"label": "subtasks", "start_step": 3398, "end_step": 3457, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the table again, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 3458, "end_step": 3509, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without any observable movement."}, {"label": "subtasks", "start_step": 3510, "end_step": 3531, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the right side of the table, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 3532, "end_step": 3561, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3562, "end_step": 3674, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 3675, "end_step": 3689, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 3690, "end_step": 3727, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the small purple object on the top of the white bottle at the wooden rack, then reaches toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3728, "end_step": 3794, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3795, "end_step": 3824, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white rack with cylindrical posts at the table center."}, {"label": "subtasks", "start_step": 3825, "end_step": 3877, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top-right post of the white rack and inserts it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 3878, "end_step": 3974, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top-right post of the white rack without moving."}], "episode_index": 18}
+{"source_uid": "88c950aabb07f750", "num_frames": 3493, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white block located at the top left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "5be79ace-0317-47de-b72c-363c367c8d5e"}, {"label": "valid", "start_step": 0, "end_step": 3461, "id": "N2pim4Okn5F3tXcNJ0yaO"}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to form a stable grasp on the white block at the top left of the wooden base."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 166, "end_step": 648, "id": "2770d055-823b-485a-8597-aa016d476229"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | 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"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 white cylindrical block off the black table surface."}, {"label": "goal", "start_step": 1561, "end_step": 1746, "id": "dbbf00ac-6a46-40ad-9359-2df6442bd305"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 white cylindrical block to the position above the purple rod of the wooden stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the green cube on the table."}, {"label": "goal", "start_step": 1747, "end_step": 1866, "id": "cd42ae55-9f94-4834-a9f5-a8df688df8ea"}, {"label": "subtasks", "start_step": 1800, "end_step": 1881, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cube placed on the table."}, {"label": "goal", "start_step": 1867, "end_step": 2004, "id": "70a7cbf5-ca8a-457f-9044-1801a30b1d52"}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it onto the peg."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod on the wooden base."}, {"label": "goal", "start_step": 2005, "end_step": 2109, "id": "243c5976-b04e-4fdd-a87e-11a8ef415088"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2129, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 2110, "end_step": 2295, "id": "8371bd21-d417-4128-806e-dc3cc46765c1"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward to fix it firmly on the peg."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 2296, "end_step": 2388, "id": "569ef105-2c0e-49b3-9896-83f2c1ddd6d8"}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 2389, "end_step": 2550, "id": "579e383a-a2c8-4875-9570-b8c1014d85d7"}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2452, "end_step": 2549, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder fitted on the purple rod."}, {"label": "goal", "start_step": 2551, "end_step": 2673, "id": "5f32bda1-5a72-43eb-b2ed-2a6c0b62256b"}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to its lower right."}, {"label": "subtasks", "start_step": 2588, "end_step": 2684, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts its fingers to form a stable grip."}, {"label": "goal", "start_step": 2674, "end_step": 2838, "id": "3bf2ab64-3141-40a6-a2ae-7e6272d10ef1"}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block on the top of the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2834, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post by pushing it down along the post."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the right side of the wooden base."}, {"label": "goal", "start_step": 2839, "end_step": 2958, "id": "aff89db1-fc9b-4f2e-87fe-366ff01608a0"}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2895, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2959, "end_step": 3417, "id": "0f7ed2f4-f5df-43bd-8a74-ed7dff188871"}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block from the table and transports it towards the white cylindrical rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the top white cylinder on the rack and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3419, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hollow block down along the white cylinder to fit it stably, then releases the block."}, {"label": "home", "start_step": 3462, "end_step": 3492, "id": "qahSHpu2KZMUR2hgjEIlO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white block located at the top left of the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to form a stable grasp on the white block at the top left of the wooden base."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up away from the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod until it reaches the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 651, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block and moves slightly upward."}, {"label": "subtasks", "start_step": 652, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand stays empty above the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 1049, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1259, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple rod on the wooden base, lowering it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "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 adjusts fingers to grasp the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "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 white cylindrical block off the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 white cylindrical block to the position above the purple rod of the wooden stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the green cube on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1881, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cube placed on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it onto the peg."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2129, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward to fix it firmly on the peg."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2452, "end_step": 2549, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to its lower right."}, {"label": "subtasks", "start_step": 2588, "end_step": 2684, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block on the top of the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2834, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post by pushing it down along the post."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the right side of the wooden base."}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2895, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block from the table and transports it towards the white cylindrical rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the top white cylinder on the rack and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3419, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hollow block down along the white cylinder to fit it stably, then releases the block."}], "episode_index": 19}
+{"source_uid": "2c9cc6a6efdf7ffe", "num_frames": 3801, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with open fingers, showing no autonomous movement or hand shape change during this period."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "1bcc829f-849f-4cb9-bbc6-7405483af11c"}, {"label": "valid", "start_step": 0, "end_step": 3769, "id": "xhKe2EvxU8oBPvpTBXpbh"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand with open fingers moves downward and leftward from its resting position toward the small object on the table in front of the wooden block base."}, {"label": "subtasks", "start_step": 98, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the small target object near the green block on the table, making small finger and wrist adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 187, "end_step": 321, "id": "7db2937d-14c5-4472-a939-1c93cd150c6d"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward, completely separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block through the air toward the wooden assembly board, positioning it directly above the target left purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the left purple peg, and slides it down the peg to seat it on the existing stack of blocks as part of the assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the green block onto the purple rod of the wooden base, fingers open to release the block as it settles stably on the base."}, {"label": "goal", "start_step": 322, "end_step": 489, "id": "28f5dc3e-12d8-48d7-9177-8f1871849371"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front left white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand fingers make slight adjusting movements while closing around the white hexagonal block to form a stable grip."}, {"label": "goal", "start_step": 490, "end_step": 612, "id": "c281101f-ff03-4a29-b90f-68c3e6b135b7"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, assembling it onto the existing green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand holds the white-topped block, lowers it onto the purple peg of the wooden assembly until the block is fully seated, then opens fingers to release the block."}, {"label": "goal", "start_step": 613, "end_step": 738, "id": "467eec47-b2fe-4b7e-bd67-71af59b59011"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves down and slightly left from the wooden assembly toward the leftmost white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the leftmost white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the leftmost white hexagonal nut on the black table surface without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 739, "end_step": 867, "id": "bd7de0ed-15cb-40ac-995f-523810ead839"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to place it onto the purple post on the wooden base."}, {"label": "goal", "start_step": 868, "end_step": 978, "id": "347f88f0-91c7-45f5-a6ec-9a09439d4db7"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward empty to approach the white hollow block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hollow block on the table to establish a stable grip."}, {"label": "goal", "start_step": 979, "end_step": 1110, "id": "9b6496cf-dacc-4886-8677-f427ca5eefaa"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block fully off the table surface and moves it upward to position it directly above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central opening of the white cylindrical block with the purple post and lowers the block to fit it onto the post, establishing the nested assembly connection."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block onto the purple vertical rod on the wooden base, releases the block, and moves fingers away from the positioned object."}, {"label": "goal", "start_step": 1111, "end_step": 1230, "id": "9b6cf2d2-7f8c-4177-ae94-ece8cdcb973c"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the left green hexagonal block on the black table surface, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes small finger and wrist adjustments to establish contact and form a grasp on the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward, until the block is fully separated from the dark table surface."}, {"label": "goal", "start_step": 1231, "end_step": 1644, "id": "0549c86e-b0c0-4340-b556-84a60c8e071d"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block through the air toward the wooden assembly rack, positioning the block directly above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the purple vertical rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand slides the green hexagonal block down the purple vertical rod, lowering it until the block rests stably on the underlying white block on the assembly rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the green hexagonal block, separating from the block which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand stays empty above the wooden block assembly base without any observable movement."}, {"label": "goal", "start_step": 1645, "end_step": 2673, "id": "9cb42c84-0281-48cc-a508-e11184e8e131"}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal block placed on the dark table surface to the left of the green hexagonal block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to finger positions to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2309, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then moves the block downward to fit onto the rod, making small positional adjustments to the block during the process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand grips the white hexagonal block on the purple rod and pulls it upward until the block is fully removed from the rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2519, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block downward, moving it back toward the area of the table where the block was originally placed."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal block downward until the block rests stably on the table surface, with fingers still holding the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the table, separating the fingers from contact with the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty near the placed white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 2674, "end_step": 2841, "id": "7731f9c0-1a4a-424b-83af-f99aa89b18de"}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2730, "end_step": 2834, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut adjacent to the wooden assembly base, with fingers kept open."}, {"label": "goal", "start_step": 2842, "end_step": 3000, "id": "5b9a5192-f8a7-442f-b9a0-61f92c906bf8"}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger and wrist adjustments to establish a stable grip, with the nut remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward from the dark table surface, with the block fully detaching from the table by the end of the segment."}, {"label": "goal", "start_step": 3001, "end_step": 3138, "id": "e9a1c397-249f-4a6f-a317-d194f06555a4"}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the purple rod, and moves the block downward along the rod until the block rests steadily on the wooden base surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block seated on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface near the stacked block set."}, {"label": "goal", "start_step": 3139, "end_step": 3246, "id": "05ff3105-48dc-4ed6-bf61-62a29c91a98e"}, {"label": "subtasks", "start_step": 3180, "end_step": 3224, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip with the nut still resting on the table."}, {"label": "goal", "start_step": 3247, "end_step": 3384, "id": "48a6c10a-6d8e-4ef2-aa9d-0a3a7ea004ac"}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and left toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 3300, "end_step": 3374, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 3375, "end_step": 3381, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3382, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 3385, "end_step": 3528, "id": "018465a7-b640-4592-b045-2596c103bd43"}, {"label": "subtasks", "start_step": 3390, "end_step": 3441, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3442, "end_step": 3547, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make slight adjustments to establish a grip on the block, which remains on the table surface."}, {"label": "goal", "start_step": 3529, "end_step": 3729, "id": "32d06eb6-b344-41b6-873f-e1393f912f74"}, {"label": "subtasks", "start_step": 3548, "end_step": 3561, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand moves vertically upward to lift the green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 3562, "end_step": 3599, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward to the position directly above the target white peg on the wooden block stand."}, {"label": "subtasks", "start_step": 3600, "end_step": 3734, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the target white peg on the wooden stand, moves downward to fit the block onto the peg to establish the assembly connection."}, {"label": "home", "start_step": 3770, "end_step": 3800, "id": "givHpxhwpaypR9MUsMTyN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with open fingers, showing no autonomous movement or hand shape change during this period."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand with open fingers moves downward and leftward from its resting position toward the small object on the table in front of the wooden block base."}, {"label": "subtasks", "start_step": 98, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the small target object near the green block on the table, making small finger and wrist adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward, completely separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block through the air toward the wooden assembly board, positioning it directly above the target left purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the left purple peg, and slides it down the peg to seat it on the existing stack of blocks as part of the assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the green block onto the purple rod of the wooden base, fingers open to release the block as it settles stably on the base."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front left white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand fingers make slight adjusting movements while closing around the white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, assembling it onto the existing green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand holds the white-topped block, lowers it onto the purple peg of the wooden assembly until the block is fully seated, then opens fingers to release the block."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves down and slightly left from the wooden assembly toward the leftmost white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the leftmost white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the leftmost white hexagonal nut on the black table surface without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to place it onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward empty to approach the white hollow block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hollow block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block fully off the table surface and moves it upward to position it directly above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central opening of the white cylindrical block with the purple post and lowers the block to fit it onto the post, establishing the nested assembly connection."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block onto the purple vertical rod on the wooden base, releases the block, and moves fingers away from the positioned object."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the left green hexagonal block on the black table surface, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes small finger and wrist adjustments to establish contact and form a grasp on the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward, until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block through the air toward the wooden assembly rack, positioning the block directly above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the purple vertical rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand slides the green hexagonal block down the purple vertical rod, lowering it until the block rests stably on the underlying white block on the assembly rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the green hexagonal block, separating from the block which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand stays empty above the wooden block assembly base without any observable movement."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal block placed on the dark table surface to the left of the green hexagonal block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to finger positions to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2309, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then moves the block downward to fit onto the rod, making small positional adjustments to the block during the process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand grips the white hexagonal block on the purple rod and pulls it upward until the block is fully removed from the rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2519, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block downward, moving it back toward the area of the table where the block was originally placed."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal block downward until the block rests stably on the table surface, with fingers still holding the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the table, separating the fingers from contact with the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty near the placed white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2730, "end_step": 2834, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut adjacent to the wooden assembly base, with fingers kept open."}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger and wrist adjustments to establish a stable grip, with the nut remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward from the dark table surface, with the block fully detaching from the table by the end of the segment."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the purple rod, and moves the block downward along the rod until the block rests steadily on the wooden base surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block seated on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface near the stacked block set."}, {"label": "subtasks", "start_step": 3180, "end_step": 3224, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip with the nut still resting on the table."}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and left toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 3300, "end_step": 3374, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 3375, "end_step": 3381, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3382, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 3390, "end_step": 3441, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3442, "end_step": 3547, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make slight adjustments to establish a grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 3548, "end_step": 3561, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand moves vertically upward to lift the green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 3562, "end_step": 3599, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward to the position directly above the target white peg on the wooden block stand."}, {"label": "subtasks", "start_step": 3600, "end_step": 3734, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the target white peg on the wooden stand, moves downward to fit the block onto the peg to establish the assembly connection."}], "episode_index": 20}
+{"source_uid": "06018246045d8e7e", "num_frames": 2949, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the home position and stops, remaining empty with fingers slightly open. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 234, "id": "0061639f-5a6f-4bee-b956-d9a411ef0765"}, {"label": "valid", "start_step": 0, "end_step": 2917, "id": "aQbV-hsNzulMmkgb_VXpW"}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the left side of the table without moving, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden base, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 235, "end_step": 477, "id": "128d6c9e-416b-479e-8723-06df0b1ea4f5"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base, lowering it along the peg until it reaches the wooden base plate."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 478, "end_step": 645, "id": "2026574e-cc87-4d2c-9804-029f671ed391"}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves down and left to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 646, "end_step": 786, "id": "aee15d8b-274a-47e0-acbe-a4d2eb2be3e0"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it upward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 787, "end_step": 912, "id": "4ebc8ae9-5d7a-49f9-ae6b-6d34f4921c5f"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 913, "end_step": 1143, "id": "c174867f-e87b-4dc0-ac74-9c6c611df90a"}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top-left of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1144, "end_step": 1239, "id": "b92a98bc-727e-4b09-b579-be66aa7c4a48"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal cylindrical object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal cylindrical object on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1240, "end_step": 1374, "id": "05e2bab0-7b96-4235-b377-1a3b447186ca"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table and transports it to above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the purple vertical rod by aligning and lowering it into the assembled position."}, {"label": "goal", "start_step": 1375, "end_step": 1506, "id": "b81196fb-9732-40cb-a873-4a809c089dc6"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1507, "end_step": 1662, "id": "63f063d8-8c6f-459a-ba6d-1713ba79112a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the green block of the wooden base, with fingers gradually opening."}, {"label": "goal", "start_step": 1663, "end_step": 1812, "id": "08a19d21-7b9a-43c0-b51d-f0dfdaf62cb2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block and white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white cylindrical object resting on the green cube, with the object staying stationary on the support."}, {"label": "goal", "start_step": 1813, "end_step": 1995, "id": "9c776321-b9d5-4373-9258-d7ae016166ad"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the green cube and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical object with the purple rod on the wooden base and inserts the object downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical object, fully separating from the object."}, {"label": "goal", "start_step": 1996, "end_step": 2157, "id": "f4426974-ff3d-4f15-bf6e-c72ebe4a9157"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2211, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table adjacent to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2158, "end_step": 2361, "id": "ab6f0a45-3741-4248-a57b-1967eef83daf"}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand pushes the white block downward along the purple rod to complete the assembly."}, {"label": "goal", "start_step": 2362, "end_step": 2463, "id": "766976ad-7b6f-41d0-a756-0fe924ff19bc"}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white block on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2481, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2464, "end_step": 2610, "id": "4c6b3f90-a7d9-4293-9bb7-2c35b754fdff"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2609, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white perforated cube with the purple rod on the wooden rack and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white bottle on the wooden rack, with fingers opening and separating from the bottle top."}, {"label": "goal", "start_step": 2611, "end_step": 2751, "id": "2cfe9df2-c17f-4ceb-869f-faad5d35d3df"}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward to approach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2774, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2752, "end_step": 2886, "id": "b8a0251c-5c04-4ff0-8c94-ebab687e5f78"}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and leftward toward the bottle rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target bottle on the wooden rack to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the green block down onto the target bottle until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2918, "end_step": 2948, "id": "7Y5IlZj7mSRpSQ19g4iEG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the home position and stops, remaining empty with fingers slightly open. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the left side of the table without moving, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base, lowering it along the peg until it reaches the wooden base plate."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves down and left to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it upward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top-left of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal cylindrical object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal cylindrical object on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table and transports it to above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the purple vertical rod by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the green block of the wooden base, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block and white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white cylindrical object resting on the green cube, with the object staying stationary on the support."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the green cube and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical object with the purple rod on the wooden base and inserts the object downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical object, fully separating from the object."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2211, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table adjacent to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand pushes the white block downward along the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white block on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2481, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2609, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white perforated cube with the purple rod on the wooden rack and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white bottle on the wooden rack, with fingers opening and separating from the bottle top."}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward to approach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2774, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and leftward toward the bottle rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target bottle on the wooden rack to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the green block down onto the target bottle until the block is stably supported by the bottle."}], "episode_index": 21}
+{"source_uid": "27c76cb11696449b", "num_frames": 3889, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the small white part in front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 258, "id": "a7cd08c9-7f7e-4303-a245-7034a995cf13"}, {"label": "valid", "start_step": 0, "end_step": 3857, "id": "rhOXMQiDKzoijQhArYjsS"}, {"label": "subtasks", "start_step": 180, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small white part in front of the wooden rack."}, {"label": "goal", "start_step": 259, "end_step": 408, "id": "f5eeca2c-166d-41c3-8f81-13a1f0ef18b3"}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the workspace and moves it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 409, "end_step": 570, "id": "7ffcbd6a-a5c9-4e87-834a-f03e3462f6d4"}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 571, "end_step": 723, "id": "3fbce14a-b13c-40aa-b23c-f69ffb10b517"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to above the purple peg on the base."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg on the base, adjusting to make it fit properly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 724, "end_step": 849, "id": "6f9259cc-71cc-407a-b4f1-e379f75b165c"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 877, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 850, "end_step": 1071, "id": "40b373c5-f4ee-45a8-98af-c04f8e245d98"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylinder in front of the wooden peg base."}, {"label": "goal", "start_step": 1072, "end_step": 1170, "id": "c94b6d8d-51d6-433b-b635-326ae4467dd2"}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small white cylinder in front of the wooden peg base."}, {"label": "goal", "start_step": 1171, "end_step": 1371, "id": "85c90fbd-bc76-462a-81f9-1065b0bb5b36"}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to secure it in place on the peg stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1372, "end_step": 1563, "id": "e20c66fc-4d4f-4452-baf8-5aa2095cc314"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1581, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green square block on the table."}, {"label": "goal", "start_step": 1564, "end_step": 1782, "id": "c6b0e9a8-d564-40b9-bec7-f8b4bfe12624"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1783, "end_step": 2535, "id": "6b62ba75-aece-4c32-a756-f3d3bcabf00e"}, {"label": "subtasks", "start_step": 1845, "end_step": 1987, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported by the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards another white hexagonal block on the table near the wooden base after the previous block falls off the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2354, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish a stable hold."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2534, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block slowly towards the wooden block base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "goal", "start_step": 2536, "end_step": 2972, "id": "f4d02a1f-0ca8-4e44-b4e8-e08e199e57d8"}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden peg rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2871, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple peg to secure it."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block."}, {"label": "subtasks", "start_step": 2895, "end_step": 2969, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upwards away from the wooden peg rack."}, {"label": "subtasks", "start_step": 2970, "end_step": 3029, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table next to the wooden base."}, {"label": "goal", "start_step": 2973, "end_step": 3095, "id": "3c8ac7b6-8df7-46a7-bed5-12a8bc17a822"}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grip."}, {"label": "goal", "start_step": 3096, "end_step": 3221, "id": "76ab72d6-fe2c-4046-b926-8ab1b7e8d440"}, {"label": "subtasks", "start_step": 3112, "end_step": 3134, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "goal", "start_step": 3222, "end_step": 3332, "id": "beaa6cb3-1f82-4951-847b-c130ba4b1451"}, {"label": "subtasks", "start_step": 3225, "end_step": 3231, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3277, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3333, "end_step": 3488, "id": "3273cc01-d136-4356-b5cc-f833bfdb5667"}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table and transports it above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 3390, "end_step": 3479, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cubic block with the empty slot on the wooden rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 3480, "end_step": 3494, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cubic block that is fixed on the wooden block rack."}, {"label": "goal", "start_step": 3489, "end_step": 3683, "id": "db17691e-741f-437f-bd4b-66901820108e"}, {"label": "subtasks", "start_step": 3495, "end_step": 3539, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 3540, "end_step": 3607, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grip on the green cube on the black table."}, {"label": "subtasks", "start_step": 3608, "end_step": 3674, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 3675, "end_step": 3711, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 3684, "end_step": 3827, "id": "056628c6-5dec-4816-a9ed-28829bac85b7"}, {"label": "subtasks", "start_step": 3712, "end_step": 3741, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}, {"label": "subtasks", "start_step": 3742, "end_step": 3824, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the white bottle with purple tip on the rack."}, {"label": "subtasks", "start_step": 3825, "end_step": 3839, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is fitted onto the bottle."}, {"label": "home", "start_step": 3858, "end_step": 3888, "id": "rzAVC-JbiBCXukA54LObp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the small white part in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 180, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small white part in front of the wooden rack."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the workspace and moves it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to above the purple peg on the base."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg on the base, adjusting to make it fit properly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 877, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylinder in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small white cylinder in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to secure it in place on the peg stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1581, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green square block on the table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1987, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported by the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards another white hexagonal block on the table near the wooden base after the previous block falls off the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2354, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish a stable hold."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2534, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block slowly towards the wooden block base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden peg rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2871, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple peg to secure it."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block."}, {"label": "subtasks", "start_step": 2895, "end_step": 2969, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upwards away from the wooden peg rack."}, {"label": "subtasks", "start_step": 2970, "end_step": 3029, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grip."}, {"label": "subtasks", "start_step": 3112, "end_step": 3134, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 3225, "end_step": 3231, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3277, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table and transports it above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 3390, "end_step": 3479, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cubic block with the empty slot on the wooden rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 3480, "end_step": 3494, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cubic block that is fixed on the wooden block rack."}, {"label": "subtasks", "start_step": 3495, "end_step": 3539, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 3540, "end_step": 3607, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grip on the green cube on the black table."}, {"label": "subtasks", "start_step": 3608, "end_step": 3674, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 3675, "end_step": 3711, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 3712, "end_step": 3741, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}, {"label": "subtasks", "start_step": 3742, "end_step": 3824, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the white bottle with purple tip on the rack."}, {"label": "subtasks", "start_step": 3825, "end_step": 3839, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is fitted onto the bottle."}], "episode_index": 22}
+{"source_uid": "4250c09c368d63f6", "num_frames": 3082, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves leftward and downward toward the small white part next to the green hexagonal block near the wooden assembly."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "523ee3fa-46bb-4a16-9e32-0ef0eb767759"}, {"label": "valid", "start_step": 0, "end_step": 3051, "id": "NyvmaM9nmxGCz4sllI_kr"}, {"label": "subtasks", "start_step": 98, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the small white part on the table, making continuous slight adjustments to fingers and wrist to stabilize the grip."}, {"label": "goal", "start_step": 211, "end_step": 366, "id": "f752f926-c788-4692-856d-645d20adaa0a"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand lowers the green hexagonal block to align and fit it onto the leftmost purple peg, establishing the mated assembly relationship between the block and the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block mated on the purple peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the table surface behind the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 367, "end_step": 537, "id": "e19b47b2-7e28-4a73-aa58-aac1b859fbfe"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the front-left white hexagonal block on the table, approaching the target without establishing a grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal block, fingers close and make continuous small adjustments to form a stable grasp on the block."}, {"label": "goal", "start_step": 538, "end_step": 735, "id": "c9ec018f-6f00-47ab-9fe7-9ea23d60aacb"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves upward while gripping the white hexagonal nut, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves upward while holding the lifted white hexagonal nut, transporting the nut to the area directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, making small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the left white hexagonal block on the dark gray table surface, with fingers open and extended, not yet touching the block."}, {"label": "goal", "start_step": 736, "end_step": 969, "id": "68a3947a-f5d9-4db7-895a-bd112fdeb146"}, {"label": "subtasks", "start_step": 780, "end_step": 921, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left white hexagonal block on the table, fingers close around the block and make small positional adjustments of the fingers and wrist to establish a firm grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the left white hexagonal block steadily on the dark gray table surface, with no observable movement of the hand, fingers, wrist or the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the black table surface, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 970, "end_step": 1128, "id": "f17830a4-1c6d-43fd-a1fc-9703047e77a1"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple rod, moving the nut downward to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand grips the white hexagonal block on the wooden base and moves upward to lift it completely free of the base's supporting pegs."}, {"label": "goal", "start_step": 1129, "end_step": 1242, "id": "62982b40-6c35-4da5-9591-6d969b8412ca"}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport_place: Right hand carries the lifted white hexagonal block downward toward the dark table surface, adjusting its position until the block rests stably on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the table adjacent to the wooden peg board."}, {"label": "goal", "start_step": 1243, "end_step": 1476, "id": "894b6807-4c28-4661-9319-081c09d3cfbe"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the target purple peg, lowering the block to seat onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple wooden peg on the wooden base, releasing the block as it settles stably on the stacked block below."}, {"label": "goal", "start_step": 1477, "end_step": 1587, "id": "96fdd220-519e-4301-b8df-e164879bbe75"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing digits to form a grip on the block."}, {"label": "goal", "start_step": 1588, "end_step": 1725, "id": "74e3b3ea-5a9f-4380-8ee9-92095e1acb1b"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the wooden peg base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden base peg without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the dark table surface, staying empty with no contact to the nut."}, {"label": "goal", "start_step": 1726, "end_step": 1836, "id": "3f125b97-f51e-4a18-b3e0-1f8230faaf1c"}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to form a stable grasp."}, {"label": "goal", "start_step": 1837, "end_step": 2004, "id": "fbc0ea25-76c6-4ae1-94f6-802ab49fe015"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark work surface and moves it upward to the position above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden assembly and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 2005, "end_step": 2109, "id": "7bbe0da9-3be3-4355-a607-e0f0d60bf954"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty toward the white hexagonal block resting on the right section of the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to establish a stable grip."}, {"label": "goal", "start_step": 2110, "end_step": 2265, "id": "ccc01fa0-17a0-41fd-8012-c5808fd60551"}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the nearby wooden block rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to seat it securely on the rod, and opens its fingers to release the fully assembled block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal object placed on the dark table surface."}, {"label": "goal", "start_step": 2266, "end_step": 2358, "id": "ebb7321e-402f-431e-bb4c-dcdfdb02a1cd"}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making slight grip adjustments to hold the object."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 2359, "end_step": 2742, "id": "1644a6a9-d3c5-4f37-b7e5-d12a67948415"}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and backward to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the stacked block assembly and lowers it to fit into the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2729, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the stacked block assembly without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand releases the light purple cylindrical object seated in the wooden peg base, fingers open and move away until fully separated from the cylinder."}, {"label": "goal", "start_step": 2743, "end_step": 2867, "id": "c78cb09c-9f33-4998-b985-510fe834666c"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards toward the green hollow block on the dark table surface, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand fingers adjust around the green hollow block, closing and repositioning slightly to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "goal", "start_step": 2868, "end_step": 3020, "id": "86727614-f396-483d-82eb-cc2016f8594a"}, {"label": "subtasks", "start_step": 2888, "end_step": 2931, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to a position directly above the purple cylindrical peg on the wooden block base."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple cylindrical peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3029, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "home", "start_step": 3052, "end_step": 3081, "id": "dbK2VRgt2uziLlW_NarTR"}], "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 without any visible movement. | Right hand: reach: Right hand, empty, moves leftward and downward toward the small white part next to the green hexagonal block near the wooden assembly."}, {"label": "subtasks", "start_step": 98, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the small white part on the table, making continuous slight adjustments to fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand lowers the green hexagonal block to align and fit it onto the leftmost purple peg, establishing the mated assembly relationship between the block and the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block mated on the purple peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the table surface behind the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the front-left white hexagonal block on the table, approaching the target without establishing a grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal block, fingers close and make continuous small adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves upward while gripping the white hexagonal nut, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves upward while holding the lifted white hexagonal nut, transporting the nut to the area directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, making small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the left white hexagonal block on the dark gray table surface, with fingers open and extended, not yet touching the block."}, {"label": "subtasks", "start_step": 780, "end_step": 921, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left white hexagonal block on the table, fingers close around the block and make small positional adjustments of the fingers and wrist to establish a firm grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the left white hexagonal block steadily on the dark gray table surface, with no observable movement of the hand, fingers, wrist or the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the black table surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple rod, moving the nut downward to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand grips the white hexagonal block on the wooden base and moves upward to lift it completely free of the base's supporting pegs."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport_place: Right hand carries the lifted white hexagonal block downward toward the dark table surface, adjusting its position until the block rests stably on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the table adjacent to the wooden peg board."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the target purple peg, lowering the block to seat onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple wooden peg on the wooden base, releasing the block as it settles stably on the stacked block below."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing digits to form a grip on the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the wooden peg base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden base peg without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the dark table surface, staying empty with no contact to the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark work surface and moves it upward to the position above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden assembly and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty toward the white hexagonal block resting on the right section of the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the nearby wooden block rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to seat it securely on the rod, and opens its fingers to release the fully assembled block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal object placed on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making slight grip adjustments to hold the object."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and backward to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the stacked block assembly and lowers it to fit into the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2729, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the stacked block assembly without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand releases the light purple cylindrical object seated in the wooden peg base, fingers open and move away until fully separated from the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards toward the green hollow block on the dark table surface, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand fingers adjust around the green hollow block, closing and repositioning slightly to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2931, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to a position directly above the purple cylindrical peg on the wooden block base."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple cylindrical peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3029, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block surface."}], "episode_index": 23}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ee628ef978cd56de544b3b7c45736022b14743e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,24 @@
+{"source_uid": "2cc85dfc06e79c24", "num_frames": 3626, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left resting position with fingers slightly extended. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "goal", "start_step": 0, "end_step": 185, "id": "d37e8dca-4322-489b-b7d6-e83680b71152"}, {"label": "valid", "start_step": 0, "end_step": 3595, "id": "VgwBD4nIwCozolnGVu2YL"}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 135, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block, adjusting finger contact points to form a stable grip on the block."}, {"label": "goal", "start_step": 186, "end_step": 494, "id": "4796d6eb-44ef-4551-822c-f54e8114a50f"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted green block horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 494, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, slides the block down along the peg, and makes small adjustments to position the block on the assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the leftmost purple rod of the wooden rack until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "goal", "start_step": 495, "end_step": 746, "id": "d45a7b9c-674f-48ab-97a8-fe34ab676f9e"}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the front-left white hexagonal block on the dark table surface, with fingers open, approaching the target without contact."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block on the table, closes fingers around the block, and adjusts finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the front-left white hexagonal block steadily on the dark table surface without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block resting on the dark table surface, securing a stable grip."}, {"label": "goal", "start_step": 747, "end_step": 1094, "id": "147e4372-f509-4e50-8da1-2664bc968d06"}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden peg board, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowers the block to fit it onto the peg above the existing green block."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds the green block with white top, aligns it with the purple peg on the wooden assembly base and fits it onto the peg."}, {"label": "goal", "start_step": 1095, "end_step": 1232, "id": "28152b89-a15b-4c77-95bd-fa6c7c130418"}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward from the assembly base towards the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left white hexagonal block on the table, with slight finger movements to adjust contact points for grasping."}, {"label": "goal", "start_step": 1233, "end_step": 1571, "id": "f6011da5-8f24-4fdd-bc7a-f8afaaf37812"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical component off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1537, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the grasped white cylindrical component with the purple rod on the wooden base and lowers it to fit onto the rod, adjusting position slightly to complete the assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white cylindrical component on the purple rod without any observable movement of the hand or the component."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds white cylindrical caps, aligns and fits them onto the tops of the vertical purple posts on the wooden base to complete assembly."}, {"label": "goal", "start_step": 1572, "end_step": 1739, "id": "9cbe6cef-1a12-421e-a0b4-531f8389ab13"}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward empty from above the wooden base toward the white hexagonal nut placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical object resting on the dark table surface near the wooden block assembly."}, {"label": "goal", "start_step": 1740, "end_step": 1979, "id": "d9b22de8-93a1-4f45-afb6-4d7157aa9aa1"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the dark table surface, moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple vertical rod on the wooden assembly, lowers the object to fit it onto the rod, makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1868, "end_step": 1979, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object seated on the purple vertical rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to seat it on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1980, "end_step": 2093, "id": "12e7b07b-9ed3-4501-b8e3-44acc7691ace"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens fingers to release the seated white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green block resting on the table."}, {"label": "goal", "start_step": 2094, "end_step": 2243, "id": "89df5df6-904b-4f46-bb55-81b1145151df"}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand moves the lifted green block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and slides the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, allowing the block to slide down the purple rod."}, {"label": "goal", "start_step": 2244, "end_step": 2369, "id": "99a5f13a-6c30-46d4-8898-e9090dc443d4"}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block to the purple peg on the wooden assembly board to complete the mating connection."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the mated green block, moves empty downwards toward the front white hexagonal block on the dark table surface without establishing contact with the block."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closes fingers around the block and adjusts wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the dark table surface, closing fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2370, "end_step": 2594, "id": "07773d88-cb31-4fb5-a825-d4935c4b3fa7"}, {"label": "subtasks", "start_step": 2408, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward toward the wooden block assembly, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block slightly to fit it onto the rod to form the mated assembly."}, {"label": "subtasks", "start_step": 2505, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple vertical rod of the wooden assembly with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "goal", "start_step": 2595, "end_step": 2735, "id": "c3118c4a-39a0-4845-8591-6dbc50ed79a3"}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "goal", "start_step": 2736, "end_step": 2930, "id": "1e5fe2eb-aba3-4778-a158-94606eeb0b34"}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting table and wooden rack edge."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2901, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit the block onto the rod, making small positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2917, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: retreat: Right hand moves upward away from the assembled block on the purple rod, retreating from the immediate operation position."}, {"label": "subtasks", "start_step": 2925, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the wooden block rack toward the small white hexagonal block on the table, staying empty as it approaches until it is positioned just above the target block without contact."}, {"label": "goal", "start_step": 2931, "end_step": 3062, "id": "3c8e1a07-b93a-4d2a-acc3-d05dde16c0e9"}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers performing visible adjusting movements and closing around the block to establish a stable grip."}, {"label": "goal", "start_step": 3063, "end_step": 3245, "id": "6200fa79-9a67-4d6b-8217-b039b88bcc5d"}, {"label": "subtasks", "start_step": 3090, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white object off the table surface and transports it upward toward the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 3135, "end_step": 3231, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the small white object with the purple vertical rod on the block stack and fits the object onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the assembled white object, separating the hand from the object."}, {"label": "goal", "start_step": 3246, "end_step": 3365, "id": "9432bbfc-01ee-4811-b1ed-ac505be93955"}, {"label": "subtasks", "start_step": 3270, "end_step": 3321, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves down and right toward the green square block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 3322, "end_step": 3359, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 3360, "end_step": 3389, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward from the dark table surface."}, {"label": "goal", "start_step": 3366, "end_step": 3554, "id": "d3b46a66-8fd5-4a1a-9a38-48440aec82d2"}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand transports the lifted green block upward and leftward toward the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylindrical peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 3472, "end_step": 3539, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block stably on the white cylindrical peg without visible movement or adjustment."}, {"label": "subtasks", "start_step": 3540, "end_step": 3554, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to begin releasing the green block placed on the white cylindrical peg."}, {"label": "home", "start_step": 3596, "end_step": 3625, "id": "aYxFiIRlcDPEkyeaQmoVU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 44, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left resting position with fingers slightly extended. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 45, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}, {"label": "subtasks", "start_step": 135, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block, adjusting finger contact points to form a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted green block horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 494, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, slides the block down along the peg, and makes small adjustments to position the block on the assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the leftmost purple rod of the wooden rack until the block is stably supported, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the front-left white hexagonal block on the dark table surface, with fingers open, approaching the target without contact."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block on the table, closes fingers around the block, and adjusts finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 630, "end_step": 734, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the front-left white hexagonal block steadily on the dark table surface without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block resting on the dark table surface, securing a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 824, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden peg board, positioning it above the target purple peg."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowers the block to fit it onto the peg above the existing green block."}, {"label": "subtasks", "start_step": 922, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds the green block with white top, aligns it with the purple peg on the wooden assembly base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward from the assembly base towards the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left white hexagonal block on the table, with slight finger movements to adjust contact points for grasping."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical component off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1537, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the grasped white cylindrical component with the purple rod on the wooden base and lowers it to fit onto the rod, adjusting position slightly to complete the assembly."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white cylindrical component on the purple rod without any observable movement of the hand or the component."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds white cylindrical caps, aligns and fits them onto the tops of the vertical purple posts on the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward empty from above the wooden base toward the white hexagonal nut placed on the table surface in front of the base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical object resting on the dark table surface near the wooden block assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the dark table surface, moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1792, "end_step": 1867, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple vertical rod on the wooden assembly, lowers the object to fit it onto the rod, makes small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1868, "end_step": 1979, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object seated on the purple vertical rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to seat it on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens fingers to release the seated white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green block resting on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand moves the lifted green block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and slides the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2234, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, allowing the block to slide down the purple rod."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block to the purple peg on the wooden assembly board to complete the mating connection."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the mated green block, moves empty downwards toward the front white hexagonal block on the dark table surface without establishing contact with the block."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closes fingers around the block and adjusts wrist and finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the dark table surface, closing fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2459, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward toward the wooden block assembly, positioning it above the purple vertical rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block slightly to fit it onto the rod to form the mated assembly."}, {"label": "subtasks", "start_step": 2505, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple vertical rod of the wooden assembly with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the white hexagonal block resting on the table adjacent to the wooden block rack."}, {"label": "subtasks", "start_step": 2760, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting table and wooden rack edge."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2901, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit the block onto the rod, making small positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2917, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: retreat: Right hand moves upward away from the assembled block on the purple rod, retreating from the immediate operation position."}, {"label": "subtasks", "start_step": 2925, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the wooden block rack toward the small white hexagonal block on the table, staying empty as it approaches until it is positioned just above the target block without contact."}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers performing visible adjusting movements and closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 3090, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white object off the table surface and transports it upward toward the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 3135, "end_step": 3231, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the small white object with the purple vertical rod on the block stack and fits the object onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the assembled white object, separating the hand from the object."}, {"label": "subtasks", "start_step": 3270, "end_step": 3321, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves down and right toward the green square block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 3322, "end_step": 3359, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 3360, "end_step": 3389, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward from the dark table surface."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand transports the lifted green block upward and leftward toward the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylindrical peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 3472, "end_step": 3539, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block stably on the white cylindrical peg without visible movement or adjustment."}, {"label": "subtasks", "start_step": 3540, "end_step": 3554, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to begin releasing the green block placed on the white cylindrical peg."}], "episode_index": 0}
+{"source_uid": "623e520a9afac0af", "num_frames": 3516, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand raises upward from the left lower position to the left upper position. | Right hand: other:raise_hand: Right hand raises upward from the right lower position to the right upper position."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "d29a9c0e-5b0f-4f78-8140-0e3ef7a80522"}, {"label": "valid", "start_step": 0, "end_step": 3485, "id": "IcPSJ_o8uSQG_VnihyrFm"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: idle: Right hand remains empty at the right upper position without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 199, "end_step": 558, "id": "1b3dc297-0cd4-4108-820c-f43235729413"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost vertical peg of the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block upward along the leftmost peg."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block downward along the leftmost peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the lower part of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 559, "end_step": 666, "id": "ec5b578b-2172-472d-a41a-1f1b3d0a4bdd"}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 667, "end_step": 1152, "id": "3b24fc3f-2331-4633-8cf6-08050e08ba0f"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the support."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board, stopping above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, aligning the block's hole with the peg and lowering the block onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 1153, "end_step": 1290, "id": "6287831a-10cd-4fa1-89f1-2a5be03ccf20"}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1291, "end_step": 1533, "id": "02ebcac8-46d8-472b-9db7-33394b4207c5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and backward to the position above the rightmost purple rod of the block rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward from the upper wooden rack area toward the white hexagonal block with a hole on the table, approaching the target block."}, {"label": "goal", "start_step": 1534, "end_step": 1671, "id": "390cf0e1-27b9-428d-be76-7abc10e1468d"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white perforated block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1672, "end_step": 1899, "id": "6a3b0a99-e6f8-4b54-af17-89805a5509a2"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white perforated block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white perforated block upward and toward the purple peg on the wooden board, stopping above the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple peg below and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press: Right hand presses the white perforated block downward along the purple peg to compact its position."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white perforated block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1900, "end_step": 2004, "id": "74dc4373-e363-4c9e-ad6d-1da8975c696f"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the green block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2005, "end_step": 2181, "id": "e501712e-7065-467e-a9f6-e1ca36c2810c"}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the green cube upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cube upward and rightward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the green cube with the target peg by aligning the cube's hole and moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cube fitted on the peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple vertical peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2182, "end_step": 2307, "id": "6e0cf4bf-d802-4ab5-a610-cc7058796f46"}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the upper working area."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "goal", "start_step": 2308, "end_step": 2529, "id": "4b9622aa-97c6-4106-b5ef-e76bd7531f47"}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and moves it upward to the position above the rack's peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white cubic block with the rack's vertical peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand gradually releases its grip on the white cubic block mounted on the peg."}, {"label": "goal", "start_step": 2530, "end_step": 2658, "id": "6a6d5cca-5e34-432b-9583-36ae84c2e798"}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2659, "end_step": 2850, "id": "00020272-ae26-4c86-84f9-79183484b532"}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack, moving it to the position above the purple rod."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod by opening fingers, then retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal object on the table, without touching the object."}, {"label": "goal", "start_step": 2851, "end_step": 3006, "id": "d6c199bc-69f7-4808-8c08-7426dbcc8c78"}, {"label": "subtasks", "start_step": 2910, "end_step": 2947, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2948, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3007, "end_step": 3144, "id": "b361aae4-8056-4482-b9fb-b7064ffa181a"}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward and backward toward the rack with white cylinders."}, {"label": "subtasks", "start_step": 3068, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal object with the target position on the rack, adjusting to align and fit it."}, {"label": "subtasks", "start_step": 3135, "end_step": 3157, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press_release: Right hand presses the purple rod down into the front-right bottle on the wooden base and releases its grip on the rod."}, {"label": "goal", "start_step": 3145, "end_step": 3249, "id": "77837630-d244-4e0a-a6a4-b99194b902cd"}, {"label": "subtasks", "start_step": 3158, "end_step": 3201, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves down-left towards the green cube on the workbench while keeping empty."}, {"label": "subtasks", "start_step": 3202, "end_step": 3269, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green cube on the workbench, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3250, "end_step": 3447, "id": "25344a1f-ff2a-4079-b47c-aa41e930fa0b"}, {"label": "subtasks", "start_step": 3270, "end_step": 3307, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts and transports the green cube from the table upward and leftward to the top of the rightmost white bottle with a purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 3308, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and presses it down to mate the cube onto the bottle."}, {"label": "home", "start_step": 3486, "end_step": 3515, "id": "xuV0tZFi1AEU6fMdYKrZc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand raises upward from the left lower position to the left upper position. | Right hand: other:raise_hand: Right hand raises upward from the right lower position to the right upper position."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: idle: Right hand remains empty at the right upper position without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost vertical peg of the pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block upward along the leftmost peg."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block downward along the leftmost peg."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the lower part of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the support."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board, stopping above the target purple peg."}, {"label": "subtasks", "start_step": 788, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, aligning the block's hole with the peg and lowering the block onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1139, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface with fingers closing."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and backward to the position above the rightmost purple rod of the block rack."}, {"label": "subtasks", "start_step": 1342, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward from the upper wooden rack area toward the white hexagonal block with a hole on the table, approaching the target block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block to establish a stable grasp."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white perforated block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white perforated block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white perforated block upward and toward the purple peg on the wooden board, stopping above the peg."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple peg below and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press: Right hand presses the white perforated block downward along the purple peg to compact its position."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white perforated block by opening fingers and separating from the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the green block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2018, "end_step": 2031, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the green cube upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cube upward and rightward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the green cube with the target peg by aligning the cube's hole and moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cube fitted on the peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple vertical peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the upper working area."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and moves it upward to the position above the rack's peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white cubic block with the rack's vertical peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand gradually releases its grip on the white cubic block mounted on the peg."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until it is fully off the support."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack, moving it to the position above the purple rod."}, {"label": "subtasks", "start_step": 2738, "end_step": 2834, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod by opening fingers, then retreats slightly away from the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal object on the table, without touching the object."}, {"label": "subtasks", "start_step": 2910, "end_step": 2947, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2948, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward and backward toward the rack with white cylinders."}, {"label": "subtasks", "start_step": 3068, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal object with the target position on the rack, adjusting to align and fit it."}, {"label": "subtasks", "start_step": 3135, "end_step": 3157, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press_release: Right hand presses the purple rod down into the front-right bottle on the wooden base and releases its grip on the rod."}, {"label": "subtasks", "start_step": 3158, "end_step": 3201, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves down-left towards the green cube on the workbench while keeping empty."}, {"label": "subtasks", "start_step": 3202, "end_step": 3269, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green cube on the workbench, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3270, "end_step": 3307, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts and transports the green cube from the table upward and leftward to the top of the rightmost white bottle with a purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 3308, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and presses it down to mate the cube onto the bottle."}], "episode_index": 1}
+{"source_uid": "bc8b33168472cc51", "num_frames": 3733, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward with empty palm. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "goal", "start_step": 0, "end_step": 183, "id": "e13cb23d-fb04-4991-9a82-c4a640938435"}, {"label": "valid", "start_step": 0, "end_step": 3702, "id": "3nXPKhHvc187wEe8bWiC3"}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 60, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and grasps the white block on the leftmost purple pillar, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 184, "end_step": 426, "id": "917c285a-e993-4657-8ee1-d46176150781"}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to fix its position."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers separating from the block."}, {"label": "goal", "start_step": 427, "end_step": 570, "id": "4bddcd50-7864-4836-a793-d27d9fade0d9"}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple pole of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 571, "end_step": 837, "id": "e75e86c3-cef5-4e46-88e4-725f08309eee"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 838, "end_step": 963, "id": "62c3af6e-350f-46c2-9178-ccd159c0a201"}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 964, "end_step": 1164, "id": "3e72bcf4-87e5-4a26-aff0-7b68fe18d0ad"}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1020, "end_step": 1154, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack, adjusting to fully fit it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hollow cylinder on the black tabletop."}, {"label": "goal", "start_step": 1165, "end_step": 1299, "id": "5297b95b-d1a4-47d3-bfb4-261d5bf6850b"}, {"label": "subtasks", "start_step": 1230, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder on the black tabletop, with slight grip adjustment."}, {"label": "goal", "start_step": 1300, "end_step": 1482, "id": "927f2a88-1001-4de9-a409-bc133d2edfab"}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple post on the wooden base, pushing it down to fit."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple post without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1483, "end_step": 1599, "id": "8424258e-e113-4ef0-9e8f-9fd2e5704010"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1600, "end_step": 1779, "id": "89971134-61af-4688-9bd6-c20a28de2bb8"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple peg by aligning the block hole and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic block that has been fitted on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block assembly towards the green square block on the table."}, {"label": "goal", "start_step": 1780, "end_step": 1899, "id": "2bbfa739-944f-440d-a6eb-bc238daef3fb"}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1900, "end_step": 2088, "id": "74099d78-44d6-497c-a363-ea9cd3d69620"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "goal", "start_step": 2089, "end_step": 2217, "id": "fbc8af7c-03e0-420e-bd8a-2363c5780391"}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closing fingers to adjust and form a stable grip."}, {"label": "goal", "start_step": 2218, "end_step": 2391, "id": "40fd5b76-3e32-4631-99cd-751f59779fd7"}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the purple cylindrical object into the top of the white bottle on the wooden rack."}, {"label": "goal", "start_step": 2392, "end_step": 2496, "id": "d8d1c43a-c8f6-447a-973c-f176592fa299"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal object and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2497, "end_step": 2808, "id": "e67764bb-280c-417b-bdbb-99d779b4155a"}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the white block towards the upper wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2804, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white block onto the empty peg of the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2864, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves empty towards the green cubic block placed on the table."}, {"label": "goal", "start_step": 2809, "end_step": 2931, "id": "63b181b7-7e40-43a5-b4cb-e84c742d5c1c"}, {"label": "subtasks", "start_step": 2865, "end_step": 2961, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2932, "end_step": 3666, "id": "cf02a377-ea52-48ca-9309-64ffc1ebb704"}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic object off the table and transports it to the position above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3015, "end_step": 3659, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic object with the protruding part of the white bottle, and makes repeated adjustments to insert the cube onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic object after it is properly fitted onto the white bottle."}, {"label": "home", "start_step": 3703, "end_step": 3732, "id": "Jde1C9Ff59kiIAZD3SRm1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward with empty palm. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 30, "end_step": 59, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}, {"label": "subtasks", "start_step": 60, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and grasps the white block on the leftmost purple pillar, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to fix its position."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers separating from the block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple pole of the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 690, "end_step": 817, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1020, "end_step": 1154, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack, adjusting to fully fit it onto the rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hollow cylinder on the black tabletop."}, {"label": "subtasks", "start_step": 1230, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder on the black tabletop, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1312, "end_step": 1371, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple post on the wooden base, pushing it down to fit."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple post without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1717, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple peg by aligning the block hole and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic block that has been fitted on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block assembly towards the green square block on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2241, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closing fingers to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2378, "end_step": 2384, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the purple cylindrical object into the top of the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2489, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal object and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2557, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the white block towards the upper wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2804, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white block onto the empty peg of the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2864, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves empty towards the green cubic block placed on the table."}, {"label": "subtasks", "start_step": 2865, "end_step": 2961, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic object off the table and transports it to the position above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3015, "end_step": 3659, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic object with the protruding part of the white bottle, and makes repeated adjustments to insert the cube onto the bottle to complete the assembly."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic object after it is properly fitted onto the white bottle."}], "episode_index": 2}
+{"source_uid": "b2a3a5f33465513b", "num_frames": 3267, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block located to the left of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 255, "id": "2b3a7edd-f6b6-434f-8a76-6af742e1abd7"}, {"label": "valid", "start_step": 0, "end_step": 3236, "id": "YATTj66XvaPABBQtVApUo"}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers and makes small positional adjustments to establish a stable grip on the target green hexagonal block on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the grasped green hexagonal block steadily with no visible hand movement, finger adjustment or object displacement."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 256, "end_step": 486, "id": "b80ef879-0d5c-4f70-8520-f05f5025c769"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 308, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the corresponding wooden peg on the assembly board, until the block is stably supported by the peg."}, {"label": "goal", "start_step": 487, "end_step": 612, "id": "86a1145b-8f01-49e0-b8da-70d4b3e02d7f"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward away from the assembly board, approaching the white hexagonal block placed on the front table surface with empty hand."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to form a stable grasp on the block, with the block remaining on the table surface."}, {"label": "goal", "start_step": 613, "end_step": 816, "id": "666903c2-ec17-4f10-af0d-42c0e93b2272"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position directly above the vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reorient: Right hand slightly rotates the grasped white hexagonal block to align its central hole with the vertical rod below, with minimal position change."}, {"label": "subtasks", "start_step": 690, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary above the vertical rod without observable movement of the hand, wrist or block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand moves the white hexagonal block downward along the vertical rod to nest it onto the green block fixed on the rod, completing the fitting action."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block to rest on the green block of the left wooden peg, fingers opening to release contact with the block."}, {"label": "goal", "start_step": 817, "end_step": 942, "id": "590e20f6-3934-489e-a8af-5a7d2e9d082c"}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the white hexagonal block located on the front section of the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand contacts the front white hexagonal block, gradually closing fingers and adjusting wrist and finger positions to form a secure grasp on the block."}, {"label": "goal", "start_step": 943, "end_step": 1128, "id": "7b5df5e4-a13e-46c0-bff6-24bf953b9428"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves the block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden rack, fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and slightly left from its initial position above the stacked blocks on the wooden base, approaching the small white cylindrical object in front of the base with fingers open."}, {"label": "goal", "start_step": 1129, "end_step": 1251, "id": "150d07a2-504d-4530-b7f0-d7c3c4e55c8a"}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the small white cylindrical object in front of the wooden base, making small positional adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the small white cylindrical object in front of the wooden base steadily, with no visible movement of the hand or the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical block placed near the wooden base."}, {"label": "goal", "start_step": 1252, "end_step": 1425, "id": "b13e9e41-8a93-4d99-8b33-fcfaa0cdd80a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to separate it from the supporting surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand moves the grasped white cylindrical block horizontally to position it directly above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical block with the purple vertical rod, then lowers the block to fit it onto the rod to complete assembly, with small adjustments of wrist and fingers to maintain alignment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white cylindrical block, gradually separating from the block surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the region adjacent to the wooden block assembly toward the green hexagonal block with an upright white peg resting on the dark table surface, staying empty as it approaches the target block."}, {"label": "goal", "start_step": 1426, "end_step": 1527, "id": "3462be3f-0d32-405c-9da8-e47da67c6929"}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block with an upright white peg, making small finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 1528, "end_step": 1668, "id": "6c104877-411a-4a78-a668-b80f6c020ef0"}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple vertical rod."}, {"label": "goal", "start_step": 1669, "end_step": 1770, "id": "d95a63c5-4d10-49df-8630-3b836c42f96a"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the white hexagonal objects on the black table surface, staying empty before contacting the target object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut near the green block on the table, adjusting finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp_lift: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface and lifts the nut upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 1771, "end_step": 2115, "id": "a6ab9c3e-c6db-4fb8-937a-5303dced6ba2"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 2114, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, adjusts the nut's position and orientation, and fits the nut down onto the rod to nest with the existing parts on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the white-capped bottle placed on the wooden tray, separating from the bottle surface."}, {"label": "goal", "start_step": 2116, "end_step": 2241, "id": "cf1fb567-5e80-4419-bc95-993b725d4933"}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block positioned near the front-right of the wooden tray."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "goal", "start_step": 2242, "end_step": 2628, "id": "6a79d196-e508-43f5-a14d-a226d8a2d331"}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal block to move upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2624, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple rod, lowers the block to fit around the rod and makes slight adjustments until the block is stably seated on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, separating the hand from the block."}, {"label": "goal", "start_step": 2629, "end_step": 2739, "id": "76d2190a-ac95-41d5-96a6-6bc4cad941ad"}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and toward the white hexagonal object placed on the dark table surface, approaching the object without making contact."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table, making small grip adjustments while the object remains resting on the table surface."}, {"label": "goal", "start_step": 2740, "end_step": 2919, "id": "79e77084-7285-45a9-b1fa-c3306e483c54"}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white annular object off the table surface, moving the object upward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2805, "end_step": 2909, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white annular object with the purple rod, lowering the object to fit onto the rod with small positional adjustments."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves from the area above the wooden bottle tray down towards the green holed block on the right side of the table, with fingers slightly extended."}, {"label": "goal", "start_step": 2920, "end_step": 3036, "id": "b93f62c6-e79e-4875-b8b8-12cce840fddf"}, {"label": "subtasks", "start_step": 2978, "end_step": 3029, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the table to establish a grasp, with fingers moving slightly to make contact with the block surface."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the green cubic block upward from the dark table surface while maintaining a firm grip on the block."}, {"label": "goal", "start_step": 3037, "end_step": 3222, "id": "20961aee-978e-409a-8acf-81790959b46e"}, {"label": "subtasks", "start_step": 3060, "end_step": 3119, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden rack holding stacked white cylinders at the top-right of the workspace."}, {"label": "subtasks", "start_step": 3120, "end_step": 3194, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand lowers the green cubic block downward to place it onto the top of the white cylinder with a purple cap on the rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating the hand from the block resting on the cylinder."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: retreat: Right hand retreats away from the rack area with an empty hand after completing the placement."}, {"label": "home", "start_step": 3237, "end_step": 3266, "id": "ATT-c_QoC24IgPrD_z0rv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block located to the left of the wooden peg base."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers and makes small positional adjustments to establish a stable grip on the target green hexagonal block on the table."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the grasped green hexagonal block steadily with no visible hand movement, finger adjustment or object displacement."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 308, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the corresponding wooden peg on the assembly board, until the block is stably supported by the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward away from the assembly board, approaching the white hexagonal block placed on the front table surface with empty hand."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to form a stable grasp on the block, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position directly above the vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reorient: Right hand slightly rotates the grasped white hexagonal block to align its central hole with the vertical rod below, with minimal position change."}, {"label": "subtasks", "start_step": 690, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary above the vertical rod without observable movement of the hand, wrist or block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand moves the white hexagonal block downward along the vertical rod to nest it onto the green block fixed on the rod, completing the fitting action."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block to rest on the green block of the left wooden peg, fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the white hexagonal block located on the front section of the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand contacts the front white hexagonal block, gradually closing fingers and adjusting wrist and finger positions to form a secure grasp on the block."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves the block upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden rack, fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and slightly left from its initial position above the stacked blocks on the wooden base, approaching the small white cylindrical object in front of the base with fingers open."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the small white cylindrical object in front of the wooden base, making small positional adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the small white cylindrical object in front of the wooden base steadily, with no visible movement of the hand or the object."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical block placed near the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to separate it from the supporting surface."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand moves the grasped white cylindrical block horizontally to position it directly above the target purple vertical rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical block with the purple vertical rod, then lowers the block to fit it onto the rod to complete assembly, with small adjustments of wrist and fingers to maintain alignment."}, {"label": "subtasks", "start_step": 1418, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white cylindrical block, gradually separating from the block surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the region adjacent to the wooden block assembly toward the green hexagonal block with an upright white peg resting on the dark table surface, staying empty as it approaches the target block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block with an upright white peg, making small finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple vertical rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the white hexagonal objects on the black table surface, staying empty before contacting the target object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut near the green block on the table, adjusting finger and wrist positions to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp_lift: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface and lifts the nut upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the rod."}, {"label": "subtasks", "start_step": 1838, "end_step": 2114, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, adjusts the nut's position and orientation, and fits the nut down onto the rod to nest with the existing parts on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the white-capped bottle placed on the wooden tray, separating from the bottle surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2189, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block positioned near the front-right of the wooden tray."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "subtasks", "start_step": 2258, "end_step": 2309, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal block to move upward and leftward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2624, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple rod, lowers the block to fit around the rod and makes slight adjustments until the block is stably seated on the wooden base."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2691, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and toward the white hexagonal object placed on the dark table surface, approaching the object without making contact."}, {"label": "subtasks", "start_step": 2692, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table, making small grip adjustments while the object remains resting on the table surface."}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white annular object off the table surface, moving the object upward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2805, "end_step": 2909, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white annular object with the purple rod, lowering the object to fit onto the rod with small positional adjustments."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves from the area above the wooden bottle tray down towards the green holed block on the right side of the table, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2978, "end_step": 3029, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the table to establish a grasp, with fingers moving slightly to make contact with the block surface."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the green cubic block upward from the dark table surface while maintaining a firm grip on the block."}, {"label": "subtasks", "start_step": 3060, "end_step": 3119, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden rack holding stacked white cylinders at the top-right of the workspace."}, {"label": "subtasks", "start_step": 3120, "end_step": 3194, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand lowers the green cubic block downward to place it onto the top of the white cylinder with a purple cap on the rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating the hand from the block resting on the cylinder."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: retreat: Right hand retreats away from the rack area with an empty hand after completing the placement."}], "episode_index": 3}
+{"source_uid": "40ab1dab5ae7b5cd", "num_frames": 4278, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green block on the table to the left of the wooden rack, keeping empty and not touching any object."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "726190e4-f372-41d6-8308-45838bae3d69"}, {"label": "valid", "start_step": 0, "end_step": 4243, "id": "NFMp-tfTGVdJH-Yr3IIl6"}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table and makes slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 199, "end_step": 369, "id": "90a20d33-b0a1-41b0-b6a0-3470f21525d5"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward from the table surface until it is fully in the air."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 248, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green square block onto the bottom wooden board of the left purple vertical rod and releases the block."}, {"label": "goal", "start_step": 370, "end_step": 471, "id": "9042ddf5-44b7-4a5f-88c1-73f5633d5d3b"}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and forward from the pegboard area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 472, "end_step": 651, "id": "e8d25e3a-d91a-41c5-99ec-8ff298840068"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it rightward and upward to the area above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the white hexagonal block while empty."}, {"label": "goal", "start_step": 652, "end_step": 753, "id": "a49fdba1-6597-413c-9afb-500ae5bf98b5"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 754, "end_step": 927, "id": "077e8c52-fe6b-4518-bf07-23c27d0579fc"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the central hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 928, "end_step": 1074, "id": "d90f61ab-d32e-4d61-90e5-7d6b6f4dc22c"}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1075, "end_step": 1353, "id": "b3975d7b-76be-4701-80b9-d28a59c513a2"}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table and transports it upward and rightward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical object with the purple vertical rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical object fitted on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 1354, "end_step": 1500, "id": "e8746bbd-ec0f-4817-b3a8-777a88fc89b1"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1704, "id": "5287070e-aad3-4e92-aae7-19a2d7938832"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1705, "end_step": 1848, "id": "a7d3d301-4268-4fbe-b72c-6b8c614b0eca"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the green block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 1849, "end_step": 2049, "id": "76829b69-e45c-4eeb-a2e2-9187a78a00f9"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the black table and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the target peg on the wooden rack, lowering the cylinder to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the table to approach the white cylindrical object below the stacked blocks."}, {"label": "goal", "start_step": 2050, "end_step": 2178, "id": "a0a6b4d0-a034-448f-b25b-82680d03f024"}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white cylindrical object on the table and closes its fingers to grasp the object."}, {"label": "goal", "start_step": 2179, "end_step": 2424, "id": "4194fed4-72e2-471b-9a42-c1060ab213e9"}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the wooden base toward the white hollow block on the black table."}, {"label": "goal", "start_step": 2425, "end_step": 2595, "id": "573e0dbd-c5c7-4c9b-8c8d-ba64c650327f"}, {"label": "subtasks", "start_step": 2475, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a grasp on the white hollow block on the table surface."}, {"label": "goal", "start_step": 2596, "end_step": 3327, "id": "1a8608b1-6300-4614-8d68-129948d5e7b7"}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder up from the table and transports it left-upward toward the purple rod on the middle wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2722, "end_step": 3277, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder steadily on the purple rod without moving."}, {"label": "subtasks", "start_step": 3278, "end_step": 3299, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating from the cylinder."}, {"label": "subtasks", "start_step": 3300, "end_step": 3314, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 3315, "end_step": 3389, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward and leftward to the green cubic block on the table, closing its fingers to grasp the block upon contact."}, {"label": "goal", "start_step": 3328, "end_step": 3444, "id": "0beeb4a6-b8d0-4fb7-a057-c7df7c8d3b7f"}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without observable movement."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3445, "end_step": 4218, "id": "ec271174-99a4-4507-892d-379f4c7c532e"}, {"label": "subtasks", "start_step": 3472, "end_step": 3494, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table until the block is fully off the supporting surface."}, {"label": "subtasks", "start_step": 3495, "end_step": 3584, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the rightmost vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 3585, "end_step": 4177, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost vertical rod, aligning the central hole with the rod and adjusting the block's vertical position along the rod repeatedly."}, {"label": "subtasks", "start_step": 4178, "end_step": 4229, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block by opening its fingers, then retreats upward from the operation position."}, {"label": "home", "start_step": 4244, "end_step": 4277, "id": "sRPZtCOQAPx8R5baH_1JV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green block on the table to the left of the wooden rack, keeping empty and not touching any object."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table and makes slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward from the table surface until it is fully in the air."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 248, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green square block onto the bottom wooden board of the left purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and forward from the pegboard area to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 458, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it rightward and upward to the area above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 510, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the white hexagonal block while empty."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the central hole with the peg and lowering the block downwards."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table and transports it upward and rightward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1155, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical object with the purple vertical rod and lowers it to fit onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical object fitted on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1694, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the green block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the black table and transports it upward and leftward toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the target peg on the wooden rack, lowering the cylinder to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the wooden rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the table to approach the white cylindrical object below the stacked blocks."}, {"label": "subtasks", "start_step": 2115, "end_step": 2211, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white cylindrical object on the table and closes its fingers to grasp the object."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward and leftward to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the wooden base toward the white hollow block on the black table."}, {"label": "subtasks", "start_step": 2475, "end_step": 2609, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a grasp on the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder up from the table and transports it left-upward toward the purple rod on the middle wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2691, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2722, "end_step": 3277, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder steadily on the purple rod without moving."}, {"label": "subtasks", "start_step": 3278, "end_step": 3299, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating from the cylinder."}, {"label": "subtasks", "start_step": 3300, "end_step": 3314, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 3315, "end_step": 3389, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward and leftward to the green cubic block on the table, closing its fingers to grasp the block upon contact."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without observable movement."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3472, "end_step": 3494, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table until the block is fully off the supporting surface."}, {"label": "subtasks", "start_step": 3495, "end_step": 3584, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the rightmost vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 3585, "end_step": 4177, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost vertical rod, aligning the central hole with the rod and adjusting the block's vertical position along the rod repeatedly."}, {"label": "subtasks", "start_step": 4178, "end_step": 4229, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block by opening its fingers, then retreats upward from the operation position."}], "episode_index": 4}
+{"source_uid": "23dcde824ab93bd0", "num_frames": 4378, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty at its initial right-side position in the workspace, with no active movement toward the central table objects."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "fe9e0f03-5f2a-4ef7-a768-6da14f870440"}, {"label": "valid", "start_step": 0, "end_step": 4347, "id": "c072r9CDHdSX9iPpyK_8J"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block resting on the table in front of the wooden block assembly, holding fingers open as it approaches without touching the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes its fingers around the block to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block that stays resting on the table, with no observable movement of the hand, fingers, or the block during this period."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grip on the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 187, "end_step": 390, "id": "9af0980b-2d06-47d1-86a5-7e15d3c4d050"}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, moves the block upward and toward the wooden pegboard to position it above a purple vertical peg."}, {"label": "subtasks", "start_step": 270, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moves the block downward to slide it onto the peg until the block rests stably on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 382, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard to approach the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 391, "end_step": 528, "id": "504b10a5-c0c6-447a-8d70-bc50bd1896e9"}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes slight finger and wrist adjustments around the white hexagonal block, closing fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts its fingers and wrist to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 529, "end_step": 720, "id": "6dd26f02-3e96-4210-b0c8-cf243f229dee"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple post, and moves it downward to fit onto the post until it rests on the green block below."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white topped block, aligns and fits it onto the corresponding purple post on the wooden assembly base, opens fingers to release the assembled block."}, {"label": "goal", "start_step": 721, "end_step": 825, "id": "a7e753aa-f165-4f40-a18c-27245f6cd21a"}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the dark table surface, with fingers slightly open, not yet contacting the block."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts wrist position and finger contact points, and gradually closes fingers to establish a stable grip on the block."}, {"label": "goal", "start_step": 826, "end_step": 978, "id": "20e73073-5837-4e05-a01d-3c7c9fdb3be2"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the two parts."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the wooden peg on the light wooden base, presses it down to fit onto the peg and releases the block."}, {"label": "goal", "start_step": 979, "end_step": 1092, "id": "ba2f45e9-e4ce-45a5-8423-7c02a74f0c60"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block near the wooden base on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close and adjust position to form a grip on the block."}, {"label": "goal", "start_step": 1093, "end_step": 1236, "id": "855243d2-2bfa-4360-a4cf-ba82aee72e29"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit it onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1237, "end_step": 1317, "id": "8866b0f3-df22-4c6e-a43f-90a8e3e967ae"}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 1318, "end_step": 1482, "id": "940e0072-03d3-46c2-b3b6-c38c4299a28f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the upper area near the wooden block assembly, approaching the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1483, "end_step": 1584, "id": "3689ed39-8384-4c81-8b71-7c336cc57b5a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close around the block and make slight positional adjustments to establish a firm grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1585, "end_step": 1797, "id": "b753e863-27c3-4da1-8b08-8ea83742b153"}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves from the area above the wooden block stand toward the white hexagonal block near the stand on the table, with fingers open, approaching the target block."}, {"label": "goal", "start_step": 1798, "end_step": 2396, "id": "500053bb-1d0c-409a-9820-3df0bc2daab4"}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block while the block remains on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning the block's hole with the purple rod to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal block away from the purple rod, moving rightward and downward back toward the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface until the block is supported by the table, then opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty above the placed white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger position around the white hexagonal block resting on the dark table surface to form a stable grasp."}, {"label": "goal", "start_step": 2397, "end_step": 2579, "id": "cef8f212-3128-430d-8fff-da2c68fc2631"}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and leftward through the air to position it above the vertical purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the vertical purple rod, lowers the block to fit it onto the rod, and establishes the assembled connection between the block and rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any movement of the hand or block."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper right area toward the white hexagonal block placed on the dark table surface, with fingers slightly spread as it approaches the target."}, {"label": "goal", "start_step": 2580, "end_step": 2789, "id": "fac7ae77-19e0-48aa-a761-ea4bfed9a387"}, {"label": "subtasks", "start_step": 2618, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, adjusts finger closure and wrist angle to secure the grip, making slight rotational and positional adjustments to the block during the grasping process."}, {"label": "subtasks", "start_step": 2730, "end_step": 2789, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand maintains a stable grasp on the white hexagonal block resting on the table, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 2790, "end_step": 2975, "id": "ad7f2792-8a3b-4e8c-b98c-53abd6e008dd"}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward toward the wooden block rack holding stacked white and green blocks."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg, with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block, separating fully from the block surface by the end of the segment."}, {"label": "subtasks", "start_step": 2970, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: retreat: Right hand moves backward away from the white hexagonal block positioned on the rack."}, {"label": "goal", "start_step": 2976, "end_step": 4004, "id": "6b8059ea-2e9c-488d-9343-83f28b27bc7f"}, {"label": "subtasks", "start_step": 2978, "end_step": 3021, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper-right area near the wooden tray toward the green cube placed on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 3022, "end_step": 3097, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube, and adjusts finger positions to form a stable grip while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3111, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the securely grasped green cube upward, raising the cube completely off the dark table surface."}, {"label": "subtasks", "start_step": 3112, "end_step": 3164, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cube upward and leftward, moving the cube to a position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3165, "end_step": 3764, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green cube steadily above the purple-capped bottle on the wooden tray, with no visible movement of the hand, fingers, or the grasped cube."}, {"label": "subtasks", "start_step": 3765, "end_step": 3831, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green cube away from the area above the purple-capped bottle, moving the cube downward and rightward back toward the dark table surface."}, {"label": "subtasks", "start_step": 3832, "end_step": 3899, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green cube onto the dark table surface until the cube is fully supported by the table, then opens fingers to release the cube and separate from its surface."}, {"label": "subtasks", "start_step": 3900, "end_step": 3981, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty and stationary directly above the placed green cube on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 3982, "end_step": 4004, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand moves fingers downward to make contact with the top of the green cube, closing fingers around the cube to initiate a new grip."}, {"label": "subtasks", "start_step": 4005, "end_step": 4019, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block resting on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 4005, "end_step": 4325, "id": "f5014e7d-3db0-44bf-a1ae-669e24a8ca71"}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block to move upward and leftward toward the area above the wooden block rack."}, {"label": "subtasks", "start_step": 4072, "end_step": 4161, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reorient: Right hand slightly rotates the green hexagonal block to adjust its posture while keeping roughly the same position above the purple cylindrical object for alignment."}, {"label": "subtasks", "start_step": 4162, "end_step": 4214, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block to move rightward to the position above the rightmost white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 4215, "end_step": 4289, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block steadily above the rightmost white cylindrical block without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 4290, "end_step": 4334, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block downward to place it on the top surface of the rightmost white cylindrical block, then opens the fingers to release the block."}, {"label": "home", "start_step": 4348, "end_step": 4377, "id": "ZnR2HGFQt_sLyZrzlgs1q"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty at its initial right-side position in the workspace, with no active movement toward the central table objects."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block resting on the table in front of the wooden block assembly, holding fingers open as it approaches without touching the block."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes its fingers around the block to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block that stays resting on the table, with no observable movement of the hand, fingers, or the block during this period."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grip on the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, moves the block upward and toward the wooden pegboard to position it above a purple vertical peg."}, {"label": "subtasks", "start_step": 270, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moves the block downward to slide it onto the peg until the block rests stably on the wooden pegboard surface."}, {"label": "subtasks", "start_step": 382, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard to approach the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes slight finger and wrist adjustments around the white hexagonal block, closing fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts its fingers and wrist to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 570, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple post, and moves it downward to fit onto the post until it rests on the green block below."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white topped block, aligns and fits it onto the corresponding purple post on the wooden assembly base, opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the dark table surface, with fingers slightly open, not yet contacting the block."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts wrist position and finger contact points, and gradually closes fingers to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 878, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the two parts."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the wooden peg on the light wooden base, presses it down to fit onto the peg and releases the block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block near the wooden base on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close and adjust position to form a grip on the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit it onto the peg while making small positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the upper area near the wooden block assembly, approaching the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close around the block and make slight positional adjustments to establish a firm grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the area above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1642, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1785, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves from the area above the wooden block stand toward the white hexagonal block near the stand on the table, with fingers open, approaching the target block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block while the block remains on the table."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning the block's hole with the purple rod to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal block away from the purple rod, moving rightward and downward back toward the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface until the block is supported by the table, then opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty above the placed white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger position around the white hexagonal block resting on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and leftward through the air to position it above the vertical purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the vertical purple rod, lowers the block to fit it onto the rod, and establishes the assembled connection between the block and rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any movement of the hand or block."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper right area toward the white hexagonal block placed on the dark table surface, with fingers slightly spread as it approaches the target."}, {"label": "subtasks", "start_step": 2618, "end_step": 2729, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, adjusts finger closure and wrist angle to secure the grip, making slight rotational and positional adjustments to the block during the grasping process."}, {"label": "subtasks", "start_step": 2730, "end_step": 2789, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand maintains a stable grasp on the white hexagonal block resting on the table, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2790, "end_step": 2811, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward toward the wooden block rack holding stacked white and green blocks."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack, moving the block downward to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg, with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block, separating fully from the block surface by the end of the segment."}, {"label": "subtasks", "start_step": 2970, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: retreat: Right hand moves backward away from the white hexagonal block positioned on the rack."}, {"label": "subtasks", "start_step": 2978, "end_step": 3021, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper-right area near the wooden tray toward the green cube placed on the dark table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 3022, "end_step": 3097, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube, and adjusts finger positions to form a stable grip while the cube remains resting on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3111, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the securely grasped green cube upward, raising the cube completely off the dark table surface."}, {"label": "subtasks", "start_step": 3112, "end_step": 3164, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cube upward and leftward, moving the cube to a position directly above the purple-capped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3165, "end_step": 3764, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green cube steadily above the purple-capped bottle on the wooden tray, with no visible movement of the hand, fingers, or the grasped cube."}, {"label": "subtasks", "start_step": 3765, "end_step": 3831, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green cube away from the area above the purple-capped bottle, moving the cube downward and rightward back toward the dark table surface."}, {"label": "subtasks", "start_step": 3832, "end_step": 3899, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green cube onto the dark table surface until the cube is fully supported by the table, then opens fingers to release the cube and separate from its surface."}, {"label": "subtasks", "start_step": 3900, "end_step": 3981, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty and stationary directly above the placed green cube on the table, with no visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 3982, "end_step": 4004, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand moves fingers downward to make contact with the top of the green cube, closing fingers around the cube to initiate a new grip."}, {"label": "subtasks", "start_step": 4005, "end_step": 4019, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block resting on the black table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block to move upward and leftward toward the area above the wooden block rack."}, {"label": "subtasks", "start_step": 4072, "end_step": 4161, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reorient: Right hand slightly rotates the green hexagonal block to adjust its posture while keeping roughly the same position above the purple cylindrical object for alignment."}, {"label": "subtasks", "start_step": 4162, "end_step": 4214, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block to move rightward to the position above the rightmost white cylindrical block on the wooden rack."}, {"label": "subtasks", "start_step": 4215, "end_step": 4289, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block steadily above the rightmost white cylindrical block without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 4290, "end_step": 4334, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block downward to place it on the top surface of the rightmost white cylindrical block, then opens the fingers to release the block."}], "episode_index": 5}
+{"source_uid": "33ef90cf5e9990e0", "num_frames": 2764, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block at the left front of the wooden peg base, with wrist rotating slightly to adjust orientation and fingers keeping slightly open, approaching the target."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "50f26a60-bbbd-45cc-81b1-e029fffc2668"}, {"label": "valid", "start_step": 0, "end_step": 2733, "id": "NZ55fdToTGy7nAdc2KbwZ"}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting slightly to establish a stable grip."}, {"label": "goal", "start_step": 205, "end_step": 375, "id": "26590ac3-f6eb-43a3-998f-607afec777e0"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down along the leftmost peg until the block is stably supported."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the upper wooden rack area, approaching the white hexagonal block on the table."}, {"label": "goal", "start_step": 376, "end_step": 489, "id": "3569aec0-86ad-4008-8109-fc95ebac2466"}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 490, "end_step": 657, "id": "8fbc06af-97fd-4797-8047-33a9b24d5aa7"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the leftmost purple peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white holed block onto the leftmost green block's peg and releases the grip."}, {"label": "goal", "start_step": 658, "end_step": 753, "id": "772c010d-39e9-4923-9be5-b1b670acbab4"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 698, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 754, "end_step": 1053, "id": "b2982a85-d5c1-4cfe-a818-73bdb3df15de"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and rightward toward the pegboard."}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the top of the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white cylindrical block on the rightmost purple peg of the wooden base and releases it quickly."}, {"label": "goal", "start_step": 1054, "end_step": 1179, "id": "b5a867d5-89ec-442e-9cf5-e15dad8c5030"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards towards the white hexagonal block with a central hole on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight downward adjustment to stabilize the grip."}, {"label": "goal", "start_step": 1180, "end_step": 1323, "id": "72f7e641-4a26-4582-9a48-ef019a712881"}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while transporting it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical peg on the wooden base and releases the part."}, {"label": "goal", "start_step": 1324, "end_step": 1416, "id": "858e4866-9791-4668-bd2b-f08adf196f27"}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the green hollow square block on the dark table surface and grasps it with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1417, "end_step": 1590, "id": "01b54d92-5b9d-44ce-8961-ac24723c4d75"}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and rightward to the top of the target purple peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block with the target purple peg by inserting it downward and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the top of the purple vertical rod, with fingers opening and separating from the ring."}, {"label": "goal", "start_step": 1591, "end_step": 1680, "id": "60445518-ea1f-4719-95b4-0e91fa6c8683"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white holed hexagonal object on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white holed hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1681, "end_step": 1866, "id": "a3a99158-c9a2-49a5-9133-f7c6bebaad35"}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the green post on the wooden rack and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on top of the green block stack at the center-top area of the table."}, {"label": "goal", "start_step": 1867, "end_step": 1962, "id": "e3ad98e9-c6c5-41df-8815-eba90a6ecda4"}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the center-top block stack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1963, "end_step": 2142, "id": "3310dcf9-94fc-4b49-a82a-4d249b1c83a6"}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the rightmost white block of the rack downward."}, {"label": "goal", "start_step": 2143, "end_step": 2244, "id": "fb8ab218-8284-41a7-8557-6ae03e2bbe03"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2245, "end_step": 2442, "id": "03d33bd9-211c-43d9-9536-66199a068d1c"}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cubic block with the purple rod on the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray downward."}, {"label": "goal", "start_step": 2443, "end_step": 2532, "id": "99642ed5-3177-41f9-8604-addcfde48c45"}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2533, "end_step": 2697, "id": "f18c4bc6-e2cf-49a2-b15c-2d4f75e22a0c"}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the wooden rack with white cylindrical bottles."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white bottle on the wooden rack and mates it onto the bottle by moving downward until the block is supported."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2734, "end_step": 2763, "id": "UB1rmiy5sZj_0xOlaz7pm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block at the left front of the wooden peg base, with wrist rotating slightly to adjust orientation and fingers keeping slightly open, approaching the target."}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down along the leftmost peg until the block is stably supported."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the upper wooden rack area, approaching the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the leftmost purple peg until it rests on the green base block."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white holed block onto the leftmost green block's peg and releases the grip."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 698, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and rightward toward the pegboard."}, {"label": "subtasks", "start_step": 802, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the top of the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white cylindrical block on the rightmost purple peg of the wooden base and releases it quickly."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards towards the white hexagonal block with a central hole on the table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight downward adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while transporting it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1230, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical peg on the wooden base and releases the part."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the green hollow square block on the dark table surface and grasps it with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and rightward to the top of the target purple peg."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block with the target purple peg by inserting it downward and releases the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the top of the purple vertical rod, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white holed hexagonal object on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white holed hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 1859, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the green post on the wooden rack and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on top of the green block stack at the center-top area of the table."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the center-top block stack."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the rightmost white block of the rack downward."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cubic block with the purple rod on the wooden rack, adjusting the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray downward."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2490, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the wooden rack with white cylindrical bottles."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white bottle on the wooden rack and mates it onto the bottle by moving downward until the block is supported."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}], "episode_index": 6}
+{"source_uid": "7f578e1ba0b16f91", "num_frames": 3403, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the leftmost white hexagonal block on the wooden base, without contacting the object."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "1a7bb7db-68a1-4e05-9523-192c8b03d9ab"}, {"label": "valid", "start_step": 0, "end_step": 3371, "id": "_QsmPmVuGzK4aEOYDsrDQ"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the wooden base, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving it away from the supporting wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "goal", "start_step": 178, "end_step": 348, "id": "81fb9768-a7cc-415b-a741-f1574ffbbfc5"}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple peg."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves slightly upward."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the purple pillar on the wooden base and releases the block."}, {"label": "goal", "start_step": 349, "end_step": 516, "id": "309b3ba0-224e-4a56-9fda-ba8064d1feaf"}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close and adjust to establish stable grasp on the block."}, {"label": "goal", "start_step": 517, "end_step": 729, "id": "5a27888b-a24e-4752-aac5-88d2f12b35b7"}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the central hole of the block with the top of the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 730, "end_step": 849, "id": "d8c2f847-03d5-4193-913c-8bc14d5118f2"}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 850, "end_step": 1008, "id": "32faf625-6de5-4fbb-8c71-cb3d6698c6bf"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder near the wooden rack on the desktop."}, {"label": "goal", "start_step": 1009, "end_step": 1122, "id": "5931fef4-85ff-4fe8-82b1-6678b3371b7e"}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "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 touches the white hexagonal cylinder and adjusts fingers to form a stable grasp on it."}, {"label": "goal", "start_step": 1123, "end_step": 1302, "id": "1263265f-c143-4c95-b37d-f50ec36b82d3"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple vertical rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block rack towards the green cubic block on the black tabletop, not contacting the block yet."}, {"label": "goal", "start_step": 1303, "end_step": 1407, "id": "45cf30e0-5d7e-4149-bc56-d56368e0de69"}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cubic block on the tabletop, fingers adjust to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1408, "end_step": 1563, "id": "671d4242-df59-4ee6-8347-b77514cef203"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the tabletop and transports it to the area above the wooden post rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the target post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1551, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube down along the post to fix it in position."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube and slightly moves away from the rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1564, "end_step": 1680, "id": "5a5422ac-b2d8-436d-a9b2-8cfc63a9edc7"}, {"label": "subtasks", "start_step": 1612, "end_step": 1701, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1681, "end_step": 2322, "id": "63e9b8dc-dab7-4104-8a1b-29cb4ee062e2"}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2108, "end_step": 2309, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder down along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the vacant position of the wooden tray."}, {"label": "goal", "start_step": 2323, "end_step": 2487, "id": "6d24aa74-a706-4399-96b0-1bba0e09f7fd"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table near the green square block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closes fingers to form and adjust the grasp on the block."}, {"label": "goal", "start_step": 2488, "end_step": 2646, "id": "3ac25820-6b13-4e22-b783-39d03545d749"}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 2647, "end_step": 2742, "id": "ae1fe1b6-0375-4446-b8eb-dfec576d2d8b"}, {"label": "subtasks", "start_step": 2655, "end_step": 2684, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2685, "end_step": 2767, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal object on the table."}, {"label": "goal", "start_step": 2743, "end_step": 3054, "id": "9959de33-63ea-4499-8c95-cbf4882e113c"}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2805, "end_step": 2887, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 3044, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block down along the purple rod to secure it, then releases the block."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple part on the white bottle fixed on the wooden rack."}, {"label": "goal", "start_step": 3055, "end_step": 3183, "id": "58dfe534-e283-4730-b467-5a3512db4cea"}, {"label": "subtasks", "start_step": 3082, "end_step": 3141, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 3184, "end_step": 3342, "id": "f7399657-cba2-4476-b23e-568792e2b1bb"}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3307, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and inserts the block onto the bottle."}, {"label": "subtasks", "start_step": 3308, "end_step": 3344, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the bottle to secure it in place."}, {"label": "home", "start_step": 3372, "end_step": 3402, "id": "LvwuK0O1jtfIt5TQpFPw9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the leftmost white hexagonal block on the wooden base, without contacting the object."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the wooden base, adjusting grip to form stable contact."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving it away from the supporting wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple peg."}, {"label": "subtasks", "start_step": 278, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves slightly upward."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the purple pillar on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close and adjust to establish stable grasp on the block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block away from the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the central hole of the block with the top of the rod."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 892, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1049, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder near the wooden rack on the desktop."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "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 touches the white hexagonal cylinder and adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple vertical rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block rack towards the green cubic block on the black tabletop, not contacting the block yet."}, {"label": "subtasks", "start_step": 1342, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cubic block on the tabletop, fingers adjust to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the tabletop and transports it to the area above the wooden post rack."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the target post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1485, "end_step": 1551, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube down along the post to fix it in position."}, {"label": "subtasks", "start_step": 1552, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube and slightly moves away from the rack."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1612, "end_step": 1701, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1725, "end_step": 2107, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2108, "end_step": 2309, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder down along the purple peg to adjust its position."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the vacant position of the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table near the green square block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closes fingers to form and adjust the grasp on the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by pushing it down along the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2655, "end_step": 2684, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2685, "end_step": 2767, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2805, "end_step": 2887, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 2888, "end_step": 3044, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block down along the purple rod to secure it, then releases the block."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple part on the white bottle fixed on the wooden rack."}, {"label": "subtasks", "start_step": 3082, "end_step": 3141, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the position above the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3307, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and inserts the block onto the bottle."}, {"label": "subtasks", "start_step": 3308, "end_step": 3344, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the bottle to secure it in place."}], "episode_index": 7}
+{"source_uid": "9d4e97605f4653c5", "num_frames": 3509, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious translational movement."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "fb647039-54b3-4399-ae64-7f77698d2234"}, {"label": "valid", "start_step": 0, "end_step": 3477, "id": "D8Hfp66HJfNm_OWJ07dlY"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty leftward toward the green hexagonal nut adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers and makes small contact adjustments to establish grip on the green hexagonal nut adjacent to the wooden peg base."}, {"label": "goal", "start_step": 211, "end_step": 360, "id": "efdd125b-f415-430f-a21f-da4ddec3a031"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the firmly gripped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the lifted green block upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green block seated on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block resting on the purple peg."}, {"label": "goal", "start_step": 361, "end_step": 453, "id": "1f4d7893-e75c-4e88-96de-04c447408d33"}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the front white hexagonal block on the table, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers gradually close and make small positional adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 454, "end_step": 615, "id": "33eca41f-a07c-4be7-b50a-36900f5bae44"}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held white hexagonal nut, keeping its position roughly unchanged above the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod and lowers it slightly to fit the rod into the hole, establishing the mating connection."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until the nut rests stably on the green base block beneath the rod, fully supported by the base."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating the hand completely from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden block assembly toward the loose white hexagonal block on the black table surface, with fingers extended during the approach."}, {"label": "goal", "start_step": 616, "end_step": 720, "id": "5e767271-c820-48d9-af52-902e5b877699"}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "goal", "start_step": 721, "end_step": 903, "id": "0f004f0a-b545-48d8-8380-19e358999b26"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut backward to the position directly above a purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 765, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then slides the nut down the peg until it rests on the lower nut."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is stably supported by the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: press: Right hand presses vertically downward on the top white hexagonal block on the leftmost purple post of the wooden stand to seat the block fully in place."}, {"label": "goal", "start_step": 904, "end_step": 1014, "id": "802bb7b2-c0ad-4483-af8d-e672f12f51a5"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block resting on the table surface in front of the wooden stand, with fingers held in an open posture."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions to stabilize grasp on the white hexagonal cylinder resting on the table near the wooden rack."}, {"label": "goal", "start_step": 1015, "end_step": 1218, "id": "47e4e1f6-e10a-4a34-a5a2-5debb99298ff"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder toward the area directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and lowers it to fit snugly onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal cylinder onto the purple post."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves away from the assembled post as an empty hand in a retreating motion."}, {"label": "goal", "start_step": 1219, "end_step": 1293, "id": "ac48787e-9fa6-4709-af06-d427c5141a30"}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the dark table surface, fingers held in a slightly spread posture before contacting the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and making small positional adjustments to form a grip on the block which remains resting on the table."}, {"label": "goal", "start_step": 1294, "end_step": 1539, "id": "a042e0c4-b7a3-42c4-bc44-e929560b6df5"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple peg of the wooden assembly base, separating from the block."}, {"label": "goal", "start_step": 1540, "end_step": 1728, "id": "4445c427-4372-4da8-9176-17152d2e37aa"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without moving, with no visible change in hand shape or object position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal cylinder resting on the black table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1896, "id": "f128cef6-86b8-4293-b49c-e43f16100561"}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal cylinder through the air toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, moves the cylinder downward to fit onto the rod, and adjusts its position during assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block placed on the table near the wooden block tray, with fingers held slightly open."}, {"label": "goal", "start_step": 1897, "end_step": 2004, "id": "432e106b-11e2-4fa6-86c3-0b38822f1858"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the tray, adjusting finger contact to establish a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, then lifts the block upward until it is completely off the table."}, {"label": "goal", "start_step": 2005, "end_step": 2499, "id": "287e22f4-073d-4c31-b719-721ad109a670"}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple vertical rod on the wooden base, moving the block to the position directly above the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, then lowers the block to fit it onto the rod until it rests stably on the stacked block below."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty slightly upward, retreating from the position of the assembled white block on the purple rod."}, {"label": "goal", "start_step": 2500, "end_step": 2652, "id": "2fca7326-7c70-4e08-af16-6d134b5bfc1d"}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the green block, with fingers slightly spread, and does not touch the block yet."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closes fingers gradually and makes small adjustments to form a stable grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the black table steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block resting on the black table surface beside the green block, closing fingers to establish a stable grip while the block remains on the table."}, {"label": "goal", "start_step": 2653, "end_step": 3060, "id": "21acb6e3-fcff-416c-8a09-f0dff2abadc4"}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the black table surface and carries it upward toward the wooden block rack, positioning the block directly above the vertical purple rod atop the stacked blocks."}, {"label": "subtasks", "start_step": 2730, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the vertical purple rod, making small positional and rotational adjustments to fit the block onto the rod while lowering it toward the supporting block below."}, {"label": "subtasks", "start_step": 3008, "end_step": 3021, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block to rest fully on the supporting block on the rack, opening its fingers to release grip on the now-stationary block."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty away from the stacked blocks on the wooden rack, retracting toward the right side of the workspace."}, {"label": "subtasks", "start_step": 3060, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green holed cubic block on the table with fingers slightly spread."}, {"label": "goal", "start_step": 3061, "end_step": 3171, "id": "dc849a2c-da9a-46f7-a1e4-6e0f9695b0c8"}, {"label": "subtasks", "start_step": 3112, "end_step": 3187, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed cubic block on the table, adjusting finger contact positions to form a grip."}, {"label": "goal", "start_step": 3172, "end_step": 3438, "id": "cfe474f1-3c04-47fd-8bef-39ad20575d9e"}, {"label": "subtasks", "start_step": 3188, "end_step": 3201, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the green block vertically upward, separating the block completely from the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted green block upward and toward the top of the stacked cylinders on the wooden base."}, {"label": "subtasks", "start_step": 3240, "end_step": 3434, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the hole of the green block with the top of the target purple-topped cylinder, adjusting wrist and finger positions slightly to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, beginning to separate from the block now seated on the cylinder."}, {"label": "home", "start_step": 3478, "end_step": 3508, "id": "ILd7z7J5PhxowifFyMKJW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious translational movement."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty leftward toward the green hexagonal nut adjacent to the wooden peg base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers and makes small contact adjustments to establish grip on the green hexagonal nut adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the firmly gripped green block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the lifted green block upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green block seated on the purple peg without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block resting on the purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the front white hexagonal block on the table, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 405, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers gradually close and make small positional adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held white hexagonal nut, keeping its position roughly unchanged above the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod and lowers it slightly to fit the rod into the hole, establishing the mating connection."}, {"label": "subtasks", "start_step": 548, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until the nut rests stably on the green base block beneath the rod, fully supported by the base."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating the hand completely from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden block assembly toward the loose white hexagonal block on the black table surface, with fingers extended during the approach."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip, with the block remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut backward to the position directly above a purple peg on the wooden block rack."}, {"label": "subtasks", "start_step": 765, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then slides the nut down the peg until it rests on the lower nut."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is stably supported by the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: press: Right hand presses vertically downward on the top white hexagonal block on the leftmost purple post of the wooden stand to seat the block fully in place."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block resting on the table surface in front of the wooden stand, with fingers held in an open posture."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grip, while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table without any visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions to stabilize grasp on the white hexagonal cylinder resting on the table near the wooden rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder toward the area directly above the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and lowers it to fit snugly onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal cylinder onto the purple post."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves away from the assembled post as an empty hand in a retreating motion."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the dark table surface, fingers held in a slightly spread posture before contacting the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and making small positional adjustments to form a grip on the block which remains resting on the table."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple peg of the wooden assembly base, separating from the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without moving, with no visible change in hand shape or object position."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal cylinder resting on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal cylinder through the air toward the purple rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, moves the cylinder downward to fit onto the rod, and adjusts its position during assembly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1957, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block placed on the table near the wooden block tray, with fingers held slightly open."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the tray, adjusting finger contact to establish a grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, then lifts the block upward until it is completely off the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple vertical rod on the wooden base, moving the block to the position directly above the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, then lowers the block to fit it onto the rod until it rests stably on the stacked block below."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty slightly upward, retreating from the position of the assembled white block on the purple rod."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the green block, with fingers slightly spread, and does not touch the block yet."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closes fingers gradually and makes small adjustments to form a stable grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the black table steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block resting on the black table surface beside the green block, closing fingers to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the black table surface and carries it upward toward the wooden block rack, positioning the block directly above the vertical purple rod atop the stacked blocks."}, {"label": "subtasks", "start_step": 2730, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the vertical purple rod, making small positional and rotational adjustments to fit the block onto the rod while lowering it toward the supporting block below."}, {"label": "subtasks", "start_step": 3008, "end_step": 3021, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block to rest fully on the supporting block on the rack, opening its fingers to release grip on the now-stationary block."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty away from the stacked blocks on the wooden rack, retracting toward the right side of the workspace."}, {"label": "subtasks", "start_step": 3060, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green holed cubic block on the table with fingers slightly spread."}, {"label": "subtasks", "start_step": 3112, "end_step": 3187, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed cubic block on the table, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 3188, "end_step": 3201, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the green block vertically upward, separating the block completely from the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3239, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted green block upward and toward the top of the stacked cylinders on the wooden base."}, {"label": "subtasks", "start_step": 3240, "end_step": 3434, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the hole of the green block with the top of the target purple-topped cylinder, adjusting wrist and finger positions slightly to fit the block onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, beginning to separate from the block now seated on the cylinder."}], "episode_index": 8}
+{"source_uid": "e97326ad7683b7e9", "num_frames": 4315, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface in front of the wooden peg rack, with the wrist rotating about 90 degrees downward to face the fingers toward the block."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "1d959ac7-cfed-4be1-b59f-cc44c92ed0b2"}, {"label": "valid", "start_step": 1, "end_step": 4284, "id": "myUFBqkvEYm8chTlpFC_-"}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 181, "end_step": 345, "id": "d79f7aa1-b900-4457-85ac-95d098ba83c3"}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it down onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 346, "end_step": 456, "id": "cb1caa45-9a03-444e-964d-52fd8a580760"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 457, "end_step": 708, "id": "184c5f21-9a0b-4e21-972b-a8638b3fea1b"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the front-left purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 709, "end_step": 822, "id": "7be4ab04-a016-4281-b520-b1a247d9a9e5"}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 823, "end_step": 1050, "id": "ab58f0bf-fb69-4580-b569-957a9876944b"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table surface and transports it towards the left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hollow block with the left purple peg on the wooden rack, fits it onto the peg, and makes small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the white hollow block on the purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1051, "end_step": 1152, "id": "63ca0efd-8a92-4cb6-ba75-9424262f3689"}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking tower."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1153, "end_step": 1344, "id": "95841f26-26f2-4048-98fc-f3570b873553"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases the object."}, {"label": "goal", "start_step": 1345, "end_step": 1443, "id": "2e0ac1cc-2cfa-4c8d-923a-8b4e5ee89236"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1444, "end_step": 1635, "id": "67af6f19-8c8f-40c4-a5d3-3fce59791dd4"}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cubic block with the vertical peg on the board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the upper block set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1636, "end_step": 1743, "id": "f2cfb294-bac4-43bf-956f-4bdbcadab101"}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the table next to the green cubic block without moving."}, {"label": "goal", "start_step": 1744, "end_step": 1950, "id": "b2a72b14-da15-4028-94c3-00685404fd1a"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the back-right peg board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white cylindrical object onto a vertical peg on the peg board via aligning and downward movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves down and right from the top of the block stack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1951, "end_step": 2070, "id": "9fc953dd-dbd8-4591-a32c-694108e4f67b"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 2071, "end_step": 2223, "id": "9a40b1bd-1532-4c62-97da-d212f9b88847"}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2219, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole, and releases the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_release: Right hand lifts the purple rod upward from the white cylinder on the right side of the pegboard and releases the rod."}, {"label": "goal", "start_step": 2224, "end_step": 2304, "id": "6c3f6bd2-2ca1-4a1b-a267-a423045e2799"}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2305, "end_step": 2853, "id": "26a0b78b-4a29-4615-a7dd-95139c45fdf8"}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white cylindrical block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2849, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the top part of the rightmost white cylinder on the wooden rack."}, {"label": "goal", "start_step": 2854, "end_step": 3629, "id": "d2cc20c5-c042-4ac5-ae4d-8905d9855b34"}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it upward to the area above the wooden rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand aligns and adjusts the green cubic block to fit onto the white cylinder of the wooden rack before releasing it, causing the block to fall onto the table."}, {"label": "subtasks", "start_step": 3435, "end_step": 3494, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block that has fallen on the table."}, {"label": "subtasks", "start_step": 3495, "end_step": 3629, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers continuously adjusting the contact position and grip."}, {"label": "subtasks", "start_step": 3630, "end_step": 3644, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cube on the right table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 3630, "end_step": 4271, "id": "88fb8c86-c6b3-42fc-a15e-c4196f9908f0"}, {"label": "subtasks", "start_step": 3645, "end_step": 3681, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it leftward to the top of the purple-tipped bottle at the front right of the bottle rack."}, {"label": "subtasks", "start_step": 3682, "end_step": 4259, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cube with the purple-tipped bottle and fits it onto the bottle, making continuous fine adjustments to the position and orientation of the green cube during the assembly process."}, {"label": "subtasks", "start_step": 4260, "end_step": 4274, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}, {"label": "home", "start_step": 4285, "end_step": 4314, "id": "Xo8V0H6zNZqCmqEyF4P9D"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface in front of the wooden peg rack, with the wrist rotating about 90 degrees downward to face the fingers toward the block."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it down onto the peg until the block rests on the wooden board."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the front-left purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table surface and transports it towards the left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hollow block with the left purple peg on the wooden rack, fits it onto the peg, and makes small adjustments to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the white hollow block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1101, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking tower."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases the object."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1462, "end_step": 1477, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cubic block with the vertical peg on the board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the upper block set toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the table next to the green cubic block without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the back-right peg board."}, {"label": "subtasks", "start_step": 1785, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white cylindrical object onto a vertical peg on the peg board via aligning and downward movement."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves down and right from the top of the block stack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2219, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole, and releases the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_release: Right hand lifts the purple rod upward from the white cylinder on the right side of the pegboard and releases the rod."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white cylindrical block above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2849, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the top part of the rightmost white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the black table surface."}, {"label": "subtasks", "start_step": 2910, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it upward to the area above the wooden rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3434, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand aligns and adjusts the green cubic block to fit onto the white cylinder of the wooden rack before releasing it, causing the block to fall onto the table."}, {"label": "subtasks", "start_step": 3435, "end_step": 3494, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block that has fallen on the table."}, {"label": "subtasks", "start_step": 3495, "end_step": 3629, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers continuously adjusting the contact position and grip."}, {"label": "subtasks", "start_step": 3630, "end_step": 3644, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cube on the right table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 3645, "end_step": 3681, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it leftward to the top of the purple-tipped bottle at the front right of the bottle rack."}, {"label": "subtasks", "start_step": 3682, "end_step": 4259, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cube with the purple-tipped bottle and fits it onto the bottle, making continuous fine adjustments to the position and orientation of the green cube during the assembly process."}, {"label": "subtasks", "start_step": 4260, "end_step": 4274, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}], "episode_index": 9}
+{"source_uid": "2a5e4b47cef87b66", "num_frames": 5098, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the right side of the table towards the green block located in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "b8a80ad8-fcd4-432a-ba63-c5e25eafff9f"}, {"label": "valid", "start_step": 0, "end_step": 5064, "id": "y0w7KSAqe_v6wDVEEzaU-"}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green block on the table."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until it is completely off the support."}, {"label": "goal", "start_step": 193, "end_step": 990, "id": "991b4e77-df5b-4bec-b602-d77eb556086f"}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 967, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg repeatedly to push it tightly onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 991, "end_step": 1158, "id": "4bf19dd0-1fe7-4185-b49a-6fcfb4ca9ee5"}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1159, "end_step": 1425, "id": "7fc6a26c-6ea6-453e-91d4-b92793d6ee7c"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the green rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to fix it, then releases the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats upwards away from the assembled block and rod."}, {"label": "goal", "start_step": 1426, "end_step": 1572, "id": "cddaef86-f6b6-4e5e-8821-df79538e3136"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the black table surface."}, {"label": "goal", "start_step": 1573, "end_step": 1947, "id": "5204a600-1258-4e0f-99c0-d29be87c0b40"}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal sleeve with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1934, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the white hexagonal sleeve down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 2047, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden rack area to the white hexagonal block on the table."}, {"label": "goal", "start_step": 1948, "end_step": 2382, "id": "e800ac2f-95a9-44cc-ab23-3aac232dcc76"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2271, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to another white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2399, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2383, "end_step": 2598, "id": "9a4e7381-3328-4f08-bcbe-e5a71c7978d3"}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2587, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it downwards."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "goal", "start_step": 2599, "end_step": 2721, "id": "2894f746-2907-4f9b-9b10-2397b900e964"}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the green hexagonal block on the table."}, {"label": "goal", "start_step": 2722, "end_step": 2922, "id": "b6162a25-5e85-449f-bf8c-30805e8154b9"}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the green hexagonal block onto the purple rod and presses it down to fit securely."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2923, "end_step": 3054, "id": "7338958b-ff29-45ae-bb43-38977d682456"}, {"label": "subtasks", "start_step": 2940, "end_step": 2969, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2970, "end_step": 3074, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 3055, "end_step": 3684, "id": "1a0dc148-c366-4b9b-b8ac-b078134093aa"}, {"label": "subtasks", "start_step": 3075, "end_step": 3127, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3128, "end_step": 3149, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 3150, "end_step": 3247, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 3248, "end_step": 3434, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the purple rod and transports it toward the right area of the black tabletop."}, {"label": "subtasks", "start_step": 3435, "end_step": 3487, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white cylindrical block back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3488, "end_step": 3674, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the white cylindrical block onto the purple rod and presses it down to fully seat it in position."}, {"label": "subtasks", "start_step": 3675, "end_step": 3704, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 3685, "end_step": 3831, "id": "1cfa1c0b-f2c7-4627-812c-e68fd573ae9d"}, {"label": "subtasks", "start_step": 3705, "end_step": 3771, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats from the wooden base area to the right side."}, {"label": "subtasks", "start_step": 3772, "end_step": 3801, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3802, "end_step": 3861, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 3832, "end_step": 4020, "id": "20474500-091b-4d32-ad97-92fee4759c09"}, {"label": "subtasks", "start_step": 3862, "end_step": 3914, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand inserts the white hollow cylinder onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 4021, "end_step": 4293, "id": "b8b2c255-3a0f-4039-a31c-152de39aff76"}, {"label": "subtasks", "start_step": 4072, "end_step": 4311, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 4294, "end_step": 4662, "id": "3f1b62ee-69d0-4861-83d1-3e514510feb0"}, {"label": "subtasks", "start_step": 4312, "end_step": 4371, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 4372, "end_step": 4641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 4642, "end_step": 4649, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 4650, "end_step": 4671, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the top of the white bottle with purple tip on the right side of the wooden tray."}, {"label": "goal", "start_step": 4663, "end_step": 4779, "id": "e10cf936-7753-4c28-b418-6cb49fd3f4ba"}, {"label": "subtasks", "start_step": 4672, "end_step": 4731, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the area near the white bottle towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4732, "end_step": 4799, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 4780, "end_step": 5022, "id": "3b1394df-d060-497e-b329-0f236cab65db"}, {"label": "subtasks", "start_step": 4800, "end_step": 4859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic object from the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 4860, "end_step": 4934, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the green cubic object with the top of the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4935, "end_step": 5024, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_release: Right hand places the green cubic object onto the top of the white bottle and releases the grip."}, {"label": "home", "start_step": 5065, "end_step": 5097, "id": "rNttswlO2gUEZ0AlIZa5N"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the right side of the table towards the green block located in front of the wooden peg base."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green block on the table."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until it is completely off the support."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 967, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg repeatedly to push it tightly onto the peg."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green hexagonal block and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the green rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1334, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1424, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to fix it, then releases the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats upwards away from the assembled block and rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop, with slight adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1634, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1724, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal sleeve with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1934, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the white hexagonal sleeve down along the purple rod to fit it firmly in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 2047, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden rack area to the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the purple rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2271, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to another white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2399, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2587, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it downwards."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 2662, "end_step": 2744, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2775, "end_step": 2827, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the top of the rightmost purple rod."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the green hexagonal block onto the purple rod and presses it down to fit securely."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2940, "end_step": 2969, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2970, "end_step": 3074, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3127, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it toward the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3128, "end_step": 3149, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 3150, "end_step": 3247, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 3248, "end_step": 3434, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the purple rod and transports it toward the right area of the black tabletop."}, {"label": "subtasks", "start_step": 3435, "end_step": 3487, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white cylindrical block back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3488, "end_step": 3674, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the white cylindrical block onto the purple rod and presses it down to fully seat it in position."}, {"label": "subtasks", "start_step": 3675, "end_step": 3704, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 3705, "end_step": 3771, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats from the wooden base area to the right side."}, {"label": "subtasks", "start_step": 3772, "end_step": 3801, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3802, "end_step": 3861, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 3862, "end_step": 3914, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand inserts the white hollow cylinder onto the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 4020, "end_step": 4071, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 4072, "end_step": 4311, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 4312, "end_step": 4371, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 4372, "end_step": 4641, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete mating."}, {"label": "subtasks", "start_step": 4642, "end_step": 4649, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 4650, "end_step": 4671, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the top of the white bottle with purple tip on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 4672, "end_step": 4731, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the area near the white bottle towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4732, "end_step": 4799, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 4800, "end_step": 4859, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic object from the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 4860, "end_step": 4934, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the green cubic object with the top of the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4935, "end_step": 5024, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_release: Right hand places the green cubic object onto the top of the white bottle and releases the grip."}], "episode_index": 10}
+{"source_uid": "c93f3e03d269d7d6", "num_frames": 3163, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed to the left of the wooden assembly base, with fingers open and extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 183, "id": "e5997057-40ed-408f-bea1-f10b0a800d06"}, {"label": "valid", "start_step": 0, "end_step": 3132, "id": "ZYQGOpvBeBye5koIobStc"}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block left of the wooden assembly base to establish a stable grip."}, {"label": "goal", "start_step": 184, "end_step": 378, "id": "110cc4b8-64c4-48e3-93c8-00106787bcdb"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark work surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block to align with the left purple peg on the wooden board, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden pegboard, releasing the block once the block is supported by the peg."}, {"label": "goal", "start_step": 379, "end_step": 567, "id": "f1c6b4a1-2f08-4d2f-bf95-76ccc40f1683"}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the pegboard area toward the white hexagonal nut resting on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, making slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "goal", "start_step": 568, "end_step": 717, "id": "69ab4f61-ad5d-4519-9d3b-b69258f553c4"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward to position it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "goal", "start_step": 718, "end_step": 828, "id": "7de9006c-e430-43d0-8489-a601d3a6b76f"}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger and wrist positions while closing fingers around the block to establish a stable grip."}, {"label": "goal", "start_step": 829, "end_step": 1011, "id": "fd8f5a01-9aa4-45e4-b29a-9ce9cc32bbc1"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod and lowers the block to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden stand without any observable movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves downward to place white capped cylindrical blocks onto the vertical pegs of the wooden base, until each block is stably supported by the pegs."}, {"label": "goal", "start_step": 1012, "end_step": 1158, "id": "a794c51a-ed7b-4898-b7e0-38b494aa4e1b"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block located on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block without any observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1159, "end_step": 1326, "id": "38d3c48e-10f1-4fb2-8819-76fadc9d13e6"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and lowers the block to fit onto the rod, making small wrist adjustments to align the parts correctly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to set it onto the purple post on the wooden peg base, until the block rests stably on the base."}, {"label": "goal", "start_step": 1327, "end_step": 1419, "id": "8b777584-1214-43e6-880c-d47264b0d76f"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark work surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1372, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusting finger positions to close around the block to form a stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1605, "id": "d8a1942a-5450-4cb6-a043-4b784208a043"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the work surface and transports it upward to the area above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the white hexagonal block beneath it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the green block, moves it downward to seat it on the matching green peg of the wooden block base, and releases the block with open fingers as the block becomes supported by the base."}, {"label": "goal", "start_step": 1606, "end_step": 1686, "id": "948e4f64-64a7-4527-9cc1-112fae11e5a5"}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface in front of the block base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, making small adjustments to finger position to establish a grip on the block."}, {"label": "goal", "start_step": 1687, "end_step": 1842, "id": "6cf7d27e-da52-4a0d-91ce-51afcca4bdb5"}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted white cylindrical block upward and toward the wooden assembly base, positioning it directly above the target vertical mounting rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target vertical rod on the assembly stand, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white-and-green block, aligns it with the peg on the wooden base, lowers it until the block is supported by the base, and opens fingers to release contact with the block."}, {"label": "goal", "start_step": 1843, "end_step": 1932, "id": "694add48-fb2e-4cba-a3fd-467f256d29dc"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward and to the right from the wooden base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand positions fingers around the loose white hexagonal block on the table and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the wooden block stand without moving."}, {"label": "goal", "start_step": 1933, "end_step": 2316, "id": "4b0d31d4-b556-41b4-8497-5da66b48ad67"}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block straight upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward to position it directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block partially fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, sliding it further down the purple rod to continue the fitting process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the area adjacent to the purple rod on the wooden block rack toward the white hexagonal block placed on the black table, fingers held slightly open during the movement."}, {"label": "goal", "start_step": 2317, "end_step": 2436, "id": "732e6dde-6882-4dab-b9d1-c4072a8fb54b"}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and making small adjustments to form a grip on the block."}, {"label": "goal", "start_step": 2437, "end_step": 2619, "id": "1241d578-a0c5-4d09-8ebc-0a7a8a8dd600"}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2609, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the position near the purple-topped cylinder on the wooden holder downward and to the right, approaching the green cubic block placed on the dark table surface."}, {"label": "goal", "start_step": 2620, "end_step": 2730, "id": "7a2e7128-331e-4ad3-bc6e-9ff44de2d2b7"}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its thumb and index finger positions around the green cubic block, with fingers slightly closing to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward off the black table surface."}, {"label": "goal", "start_step": 2731, "end_step": 3111, "id": "14a691b8-4fda-4785-a181-2efb7a61d20d"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position directly above the purple-capped bottle on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple cap of the target bottle, adjusting the block's orientation slightly to match the cap."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the aligned green block downward until it fits onto the bottle cap and is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 3097, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block steadily on top of the purple-capped bottle without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3098, "end_step": 3119, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains stable on the bottle."}, {"label": "home", "start_step": 3133, "end_step": 3162, "id": "IynwHcHtx4TUbRvPQ7ups"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed to the left of the wooden assembly base, with fingers open and extended during the movement."}, {"label": "subtasks", "start_step": 90, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block left of the wooden assembly base to establish a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark work surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block to align with the left purple peg on the wooden board, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 344, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests stably on the surface of the wooden peg board."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden pegboard, releasing the block once the block is supported by the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the pegboard area toward the white hexagonal nut resting on the black table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, making slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward to position it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger and wrist positions while closing fingers around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to position above the leftmost purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod and lowers the block to fit onto the rod with small position adjustments."}, {"label": "subtasks", "start_step": 938, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden stand without any observable movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves downward to place white capped cylindrical blocks onto the vertical pegs of the wooden base, until each block is stably supported by the pegs."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block located on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block without any observable movement of the hand, wrist, fingers or the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1208, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and lowers the block to fit onto the rod, making small wrist adjustments to align the parts correctly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to set it onto the purple post on the wooden peg base, until the block rests stably on the base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post, separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark work surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1372, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusting finger positions to close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the work surface and transports it upward to the area above the purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1470, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making slight positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the white hexagonal block beneath it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the green block, moves it downward to seat it on the matching green peg of the wooden block base, and releases the block with open fingers as the block becomes supported by the base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface in front of the block base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, making small adjustments to finger position to establish a grip on the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to raise it completely off the black table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted white cylindrical block upward and toward the wooden assembly base, positioning it directly above the target vertical mounting rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1829, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target vertical rod on the assembly stand, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white-and-green block, aligns it with the peg on the wooden base, lowers it until the block is supported by the base, and opens fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward and to the right from the wooden base area toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand positions fingers around the loose white hexagonal block on the table and closes fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the wooden block stand without moving."}, {"label": "subtasks", "start_step": 1958, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block straight upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward to position it directly above the purple vertical rod on the wooden stand."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the top end of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block partially fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, sliding it further down the purple rod to continue the fitting process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the area adjacent to the purple rod on the wooden block rack toward the white hexagonal block placed on the black table, fingers held slightly open during the movement."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and making small adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moving the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2609, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2610, "end_step": 2661, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the position near the purple-topped cylinder on the wooden holder downward and to the right, approaching the green cubic block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2729, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its thumb and index finger positions around the green cubic block, with fingers slightly closing to form a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward off the black table surface."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position directly above the purple-capped bottle on the wooden bottle rack."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple cap of the target bottle, adjusting the block's orientation slightly to match the cap."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the aligned green block downward until it fits onto the bottle cap and is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 3097, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block steadily on top of the purple-capped bottle without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3098, "end_step": 3119, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains stable on the bottle."}], "episode_index": 11}
+{"source_uid": "1432a5740616bc68", "num_frames": 2862, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position and stops. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "goal", "start_step": 0, "end_step": 276, "id": "74a1430e-f922-42e9-b38c-6c000b31ca6e"}, {"label": "valid", "start_step": 0, "end_step": 2831, "id": "jprnwOFGYJef4YCK1IKZa"}, {"label": "subtasks", "start_step": 38, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the left table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left table without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table, with fingers closing and adjusting to secure the block."}, {"label": "goal", "start_step": 277, "end_step": 444, "id": "80885dd2-5159-43ba-8a94-42b6fd09fbe7"}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the dark table to the area above the leftmost peg on the wooden board."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 445, "end_step": 582, "id": "94dc608b-2989-473f-8a2a-e8574712e83d"}, {"label": "subtasks", "start_step": 450, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with closing and adjusting fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 583, "end_step": 795, "id": "89c7fea9-8f3c-42f1-89be-97ae6f22243d"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while moving it to the position above the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and moves it down to fit the block onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the leftmost purple peg to push it to the bottom of the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 796, "end_step": 906, "id": "704e8f8e-7fd3-40c6-a269-13c036427352"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 907, "end_step": 1068, "id": "6bb0e382-d15d-475a-b866-4c3575b0bd43"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white block on top of the leftmost vertical peg, with fingers opening."}, {"label": "goal", "start_step": 1069, "end_step": 1194, "id": "2331b6d1-f722-4800-841d-a93101866e07"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip while the block remains on the table surface."}, {"label": "goal", "start_step": 1195, "end_step": 1494, "id": "53556bf2-43a0-4c1e-9675-f60894a11a27"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported by the block structure below."}, {"label": "subtasks", "start_step": 1358, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1495, "end_step": 1635, "id": "a497d1af-e423-43c5-bb27-61aec1331191"}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "goal", "start_step": 1636, "end_step": 1791, "id": "837adb18-8014-4d04-b639-645292b3040a"}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle vertical peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the middle vertical peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto a vertical peg on the wooden base."}, {"label": "goal", "start_step": 1792, "end_step": 1899, "id": "82934e11-e5fa-4c66-a632-99df225972ee"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1900, "end_step": 2049, "id": "be1c73c3-49d1-4537-a69f-59b73ba5aece"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the rack and moves it downward to fit the object onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object fitted on the rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the building block set's peg and releases it."}, {"label": "goal", "start_step": 2050, "end_step": 2160, "id": "6dfdec93-3b6a-4092-a4e8-683c4e37f29e"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves empty toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2161, "end_step": 2319, "id": "b6864257-266b-43aa-bb96-acdbc9618a61"}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_place: Right hand aligns the white cylindrical block with the purple rod, fits it onto the rod, and lowers it to rest on the wooden board."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical block and moves away from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white cubic block on the black table surface."}, {"label": "goal", "start_step": 2320, "end_step": 2379, "id": "b30362fe-3ba5-4a20-bece-91c3edddf67e"}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the white cubic block on the table to form a stable grasp, with slight finger position adjustment."}, {"label": "goal", "start_step": 2380, "end_step": 2532, "id": "32becbb3-08e7-404d-92a2-e688cee63f2c"}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table surface and transports it upward and leftward toward the wooden pegboard with the purple peg."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg on the wooden pegboard and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top part of the front-right white cylinder on the wooden rack downward."}, {"label": "goal", "start_step": 2533, "end_step": 2625, "id": "b4304bef-b40f-41f2-87b6-cd1e1d05c640"}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the table with empty hand."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp_lift: Right hand contacts the green cubic block on the table, closes fingers to grasp it, then lifts it upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2626, "end_step": 2802, "id": "85dc94ea-8701-431b-a347-48d5cdb9f7ac"}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it toward the white peg with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped white peg on the wooden base by aligning the block's hole and inserting downward."}, {"label": "home", "start_step": 2832, "end_step": 2861, "id": "hinzyb1tZABbEEJrJN752"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position and stops. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 38, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}, {"label": "subtasks", "start_step": 112, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the left table and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 195, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left table without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table, with fingers closing and adjusting to secure the block."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the dark table to the area above the leftmost peg on the wooden board."}, {"label": "subtasks", "start_step": 322, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 450, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with closing and adjusting fingers."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while moving it to the position above the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 638, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and moves it down to fit the block onto the peg."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the leftmost purple peg to push it to the bottom of the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to the top of the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block fitted on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white block on top of the leftmost vertical peg, with fingers opening."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported by the block structure below."}, {"label": "subtasks", "start_step": 1358, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1551, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle vertical peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the middle vertical peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto a vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the rack and moves it downward to fit the object onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object fitted on the rack peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the building block set's peg and releases it."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves empty toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_place: Right hand aligns the white cylindrical block with the purple rod, fits it onto the rod, and lowers it to rest on the wooden board."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical block and moves away from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the white cubic block on the table to form a stable grasp, with slight finger position adjustment."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table surface and transports it upward and leftward toward the wooden pegboard with the purple peg."}, {"label": "subtasks", "start_step": 2430, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg on the wooden pegboard and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top part of the front-right white cylinder on the wooden rack downward."}, {"label": "subtasks", "start_step": 2542, "end_step": 2587, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the table with empty hand."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp_lift: Right hand contacts the green cubic block on the table, closes fingers to grasp it, then lifts it upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it toward the white peg with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2804, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped white peg on the wooden base by aligning the block's hole and inserting downward."}], "episode_index": 12}
+{"source_uid": "1df51f71365be95f", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 309, "id": "c3fd716d-c49e-478d-be4f-f56d22c2faf2"}, {"label": "valid", "start_step": 0, "end_step": 2925, "id": "uaJ1KaV6Cx84DSh7LA6Rk"}, {"label": "subtasks", "start_step": 112, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the leftmost purple rod, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand holds the white cylinder and lifts it upward along the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 310, "end_step": 465, "id": "86272b9d-ed7d-4717-a78c-0615b43a83d1"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 466, "end_step": 594, "id": "399223e8-55dc-43c7-a105-4a5d31d85d1f"}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop with fingers closing around it to adjust grip."}, {"label": "goal", "start_step": 595, "end_step": 768, "id": "f4233962-5725-4fc3-809c-bb410f8eb9db"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 769, "end_step": 873, "id": "aef3a89e-4cb4-4cba-b742-a4c95e19b44d"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 874, "end_step": 1017, "id": "4173bb37-0bda-4855-ab1d-532e0f60239a"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base peg, fingers open to separate from the block."}, {"label": "goal", "start_step": 1018, "end_step": 1161, "id": "be0c8dd2-e13f-4ee8-bd8a-6e892deaeca3"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical block near the bottom edge of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the small white cylindrical block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden tray."}, {"label": "goal", "start_step": 1162, "end_step": 1317, "id": "cb31b1d0-f83e-4ee9-a374-322422baa022"}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1318, "end_step": 1419, "id": "0ddca351-5616-4dea-bf0a-49d712f453f9"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats downward away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing and adjusting to form stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1572, "id": "ac9d744c-918a-438e-9e90-c08176074daf"}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden tray by lowering it onto the rod."}, {"label": "goal", "start_step": 1573, "end_step": 1671, "id": "202ea7f0-b545-4492-b032-964970462d8e"}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "goal", "start_step": 1672, "end_step": 1869, "id": "fcfbae7b-f0ae-4591-9730-9c65166eaaaa"}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the target peg on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right black tabletop."}, {"label": "goal", "start_step": 1870, "end_step": 2007, "id": "39740d5a-dfbf-4a18-add3-eba3e41b15c3"}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2008, "end_step": 2157, "id": "b2bca7d5-5a4e-4ebd-9275-b7dd83a2b63d"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats away from the purple rod after releasing the cylinder."}, {"label": "goal", "start_step": 2158, "end_step": 2277, "id": "39468b1a-e4be-43c9-82c1-3fd152dd15fa"}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2301, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2278, "end_step": 2433, "id": "a5b27473-9041-4a70-82ca-6e476700ef4a"}, {"label": "subtasks", "start_step": 2302, "end_step": 2347, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the tabletop and moves it towards the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder which is placed on the purple rod of the wooden tray."}, {"label": "goal", "start_step": 2434, "end_step": 2589, "id": "428fbdbc-bda7-4c7c-9c8a-cb81637ab040"}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2601, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2590, "end_step": 2889, "id": "dedcc4dd-da01-4681-8eb8-0ebc026784a6"}, {"label": "subtasks", "start_step": 2602, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2715, "end_step": 2871, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white bottle to the target position."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the green block from grasp."}, {"label": "home", "start_step": 2926, "end_step": 2955, "id": "J9yOi3vSKUYbJFZGuJI3W"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the leftmost purple rod, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand holds the white cylinder and lifts it upward along the purple rod."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 464, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop with fingers closing around it to adjust grip."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod, then releases the block."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base peg, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical block near the bottom edge of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the small white cylindrical block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1192, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats downward away from the wooden base after placing the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing and adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1455, "end_step": 1589, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden tray by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1642, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the target peg on the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right black tabletop."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by fitting it onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats away from the purple rod after releasing the cylinder."}, {"label": "subtasks", "start_step": 2160, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2301, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2302, "end_step": 2347, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the tabletop and moves it towards the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2348, "end_step": 2414, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder which is placed on the purple rod of the wooden tray."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2601, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2602, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the white bottle with purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}, {"label": "subtasks", "start_step": 2715, "end_step": 2871, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white bottle to the target position."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the green block from grasp."}], "episode_index": 13}
+{"source_uid": "328f0af5c965acdc", "num_frames": 2927, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal block in front of the wooden peg base, with fingers extended, not yet contacting the target block."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "e044a777-e756-4254-ac22-97b607ac7d4b"}, {"label": "valid", "start_step": 0, "end_step": 2895, "id": "wgMExWALjhnK_YbvKkyUG"}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green hexagonal block resting on the dark table near the wooden pegboard."}, {"label": "goal", "start_step": 187, "end_step": 339, "id": "ae2ac625-c25e-4977-9072-e5f8d77649fe"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden board and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block onto a purple peg of the wooden pegboard until the block rests on underlying blocks, opens fingers to release grip on the green block."}, {"label": "goal", "start_step": 340, "end_step": 477, "id": "dc2bf782-5010-4ed9-b89f-823b8b914c26"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal block placed on the table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, makes small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface in a stable grip, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 478, "end_step": 639, "id": "35fb929a-fcb4-4824-ade9-fb01617f96e8"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to the position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, slides the block down the rod and adjusts its position to complete the nesting assembly on top of the green block below."}, {"label": "goal", "start_step": 640, "end_step": 762, "id": "41af9317-5bbe-4e2a-8ab7-9ac0318b8d6e"}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downwards towards the front-left white hexagonal block on the dark work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block, making slight adjustments to finger contact points to establish a stable grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 763, "end_step": 969, "id": "694a8231-6ad8-460f-a8a7-4be2d6948b95"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the unoccupied purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 810, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and slides the nut down the rod to fit into the assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns and fits the white block onto the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 970, "end_step": 1083, "id": "4e50e1a5-7366-43a0-94b4-6a5bffeec8a6"}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_reach: Right hand releases the fitted white block on the purple rod and moves downward empty toward the adjacent white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, adjusting finger contact positions to establish a stable grasp."}, {"label": "goal", "start_step": 1084, "end_step": 1230, "id": "957ccf95-eaa3-447f-b741-4d99cbdd136e"}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg, lowering the block to fit it onto the peg during assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple vertical peg without observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the front green hexagonal block on the dark table surface, keeping fingers open while approaching the target."}, {"label": "goal", "start_step": 1231, "end_step": 1311, "id": "ee3af3eb-abe0-4b36-9f5c-c1440233ce0a"}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the front green hexagonal block on the table, closing fingers to make contact and form a stable grasp on the block."}, {"label": "goal", "start_step": 1312, "end_step": 1464, "id": "6745f0de-e5b6-4412-9b63-253a50044d76"}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the purple rod on the wooden block base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block to slide it onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "goal", "start_step": 1465, "end_step": 1548, "id": "0e659b75-f56d-48b6-8d72-b4c9c76cb887"}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed near the green block on the table, approaching the target nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, fingers close and adjust contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "goal", "start_step": 1549, "end_step": 1692, "id": "94e04913-5934-4072-ad1d-195a9988a880"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the wooden block rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the top white cylinder on the wooden assembly base, breaking contact with the object."}, {"label": "goal", "start_step": 1693, "end_step": 1779, "id": "43d981c9-01a5-431c-a3e3-fcd950b47ed6"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward to approach the small white hollow cylinder on the table near the assembly base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small white hollow cylinder on the table, making fine adjustments to form a stable grasp."}, {"label": "goal", "start_step": 1780, "end_step": 1890, "id": "9aeaf6d1-1983-4ef4-bbc4-45bde6b79175"}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transporting it upward to a position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, moving the block downward to fit onto the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block seated on the purple rod, moving slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, with fingers slightly extended, without touching the block."}, {"label": "goal", "start_step": 1891, "end_step": 1965, "id": "323feb23-5e27-4295-b162-57a70ccbb884"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a grasp, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without obvious movement or hand shape change."}, {"label": "goal", "start_step": 1966, "end_step": 2175, "id": "596f21a1-b79f-4d77-a9ca-5216ba892396"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark-colored table surface, and moves it upward and leftward to the position above the empty slot on the light wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the wooden block rack, inserts the block into the slot to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand releases the white bottle with a purple cap placed on the wooden tray, fingers opening to separate from the bottle surface."}, {"label": "goal", "start_step": 2176, "end_step": 2283, "id": "563ce16a-e492-45a1-8ad7-d69e70961176"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green square block, fingers gradually closing to establish contact with the block which stays on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand grips the green cubic block resting on the right black tabletop and lifts it upward until the block is completely separated from the table surface."}, {"label": "goal", "start_step": 2284, "end_step": 2871, "id": "8f159f65-df9b-4bc0-b860-f76a69366f8f"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block, moving it upward and rightward to the position directly above the purple post on the wooden block tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green cubic block, aligns its central hole with the purple post, and fits the block down onto the post until the block is supported by underlying objects."}, {"label": "subtasks", "start_step": 2722, "end_step": 2857, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand maintains grip on the green cubic block fitted on the purple post, making slight finger and wrist adjustments to stabilize the block's placement."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green cubic block, fully separating the hand from the placed block."}, {"label": "home", "start_step": 2896, "end_step": 2926, "id": "YQ9hYw3TTza2R73qP4_iQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal block in front of the wooden peg base, with fingers extended, not yet contacting the target block."}, {"label": "subtasks", "start_step": 120, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green hexagonal block resting on the dark table near the wooden pegboard."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden board and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block onto a purple peg of the wooden pegboard until the block rests on underlying blocks, opens fingers to release grip on the green block."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal block placed on the table surface, making no contact with the target block during movement."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, makes small finger and wrist adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface in a stable grip, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to the position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, slides the block down the rod and adjusts its position to complete the nesting assembly on top of the green block below."}, {"label": "subtasks", "start_step": 668, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downwards towards the front-left white hexagonal block on the dark work surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block, making slight adjustments to finger contact points to establish a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the unoccupied purple rod on the wooden assembly block."}, {"label": "subtasks", "start_step": 810, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and slides the nut down the rod to fit into the assembly."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns and fits the white block onto the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_reach: Right hand releases the fitted white block on the purple rod and moves downward empty toward the adjacent white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg, lowering the block to fit it onto the peg during assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple vertical peg without observable movement."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the front green hexagonal block on the dark table surface, keeping fingers open while approaching the target."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the front green hexagonal block on the table, closing fingers to make contact and form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the purple rod on the wooden block base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block to slide it onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple rod, separating the hand from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed near the green block on the table, approaching the target nut."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, fingers close and adjust contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the wooden block rack."}, {"label": "subtasks", "start_step": 1582, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the top white cylinder on the wooden assembly base, breaking contact with the object."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward to approach the small white hollow cylinder on the table near the assembly base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small white hollow cylinder on the table, making fine adjustments to form a stable grasp."}, {"label": "subtasks", "start_step": 1792, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transporting it upward to a position directly above the purple vertical rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, moving the block downward to fit onto the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block seated on the purple rod, moving slightly away from the assembled block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, with fingers slightly extended, without touching the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a grasp, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without obvious movement or hand shape change."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark-colored table surface, and moves it upward and leftward to the position above the empty slot on the light wooden block rack."}, {"label": "subtasks", "start_step": 2025, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the wooden block rack, inserts the block into the slot to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand releases the white bottle with a purple cap placed on the wooden tray, fingers opening to separate from the bottle surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green square block, fingers gradually closing to establish contact with the block which stays on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand grips the green cubic block resting on the right black tabletop and lifts it upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block, moving it upward and rightward to the position directly above the purple post on the wooden block tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green cubic block, aligns its central hole with the purple post, and fits the block down onto the post until the block is supported by underlying objects."}, {"label": "subtasks", "start_step": 2722, "end_step": 2857, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand maintains grip on the green cubic block fitted on the purple post, making slight finger and wrist adjustments to stabilize the block's placement."}, {"label": "subtasks", "start_step": 2858, "end_step": 2879, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green cubic block, fully separating the hand from the placed block."}], "episode_index": 14}
+{"source_uid": "14df67aefc306186", "num_frames": 4716, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block located on the left side of the wooden pegboard."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "d653ed38-d4a2-412d-a83d-e7000f94eb33"}, {"label": "valid", "start_step": 0, "end_step": 4685, "id": "QkyUBGpG7OpnewPK9tqjF"}, {"label": "subtasks", "start_step": 112, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left of the wooden pegboard, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green cubic block from the dark table surface."}, {"label": "goal", "start_step": 169, "end_step": 375, "id": "a3a14eb7-5a55-40d5-95bf-9c8e7171d417"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand fits the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left-front purple peg of the wooden base."}, {"label": "goal", "start_step": 376, "end_step": 489, "id": "5d52d07c-ff4d-4d86-a648-9d5db652bd62"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front-left area of the table."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 490, "end_step": 753, "id": "ac07ce6b-eb2b-4d1b-9641-c468857c8b28"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it backward and upward to above the front-left purple peg on the wooden board."}, {"label": "subtasks", "start_step": 525, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg and inserts it downward onto the peg, adjusting the part's position during assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening to release the grip."}, {"label": "goal", "start_step": 754, "end_step": 885, "id": "80703a3b-b717-4195-9e4f-a6fa1d7b15a3"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downwards from the wooden base area toward the white hexagonal block on the left side of the workbench surface."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench surface without any observable movement."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 886, "end_step": 1074, "id": "d868fa82-a77f-4f7c-ab05-3ea846507b04"}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 938, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the wooden rack and moves it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the middle purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1075, "end_step": 1683, "id": "d459bac5-805b-4285-a0b1-3b19e71db6c7"}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release_reach: Right hand releases the white hexagonal block from the middle purple peg and moves downward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: push: Right hand pushes the fallen white hexagonal block leftward across the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "goal", "start_step": 1684, "end_step": 1881, "id": "40e7e15f-f430-4173-ad82-3e9b91750054"}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning the part's hole with the peg and lowering it to fit in place."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hexagonal part fitted on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple rod and releases the block."}, {"label": "goal", "start_step": 1882, "end_step": 1995, "id": "61bce51f-e661-4562-a98a-13e75a7dd444"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1996, "end_step": 2169, "id": "af9da33e-cfed-4a39-b367-044fa7dbfba1"}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the position above the wooden peg board."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden board."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white hollow block with the post on the green block of the block tower and releases it."}, {"label": "goal", "start_step": 2170, "end_step": 2301, "id": "a0dcbf26-425e-4f16-b33b-5cfacad5862a"}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table below the block tower."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2302, "end_step": 2457, "id": "b6709577-0ed6-4e95-9d94-e5701060117f"}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upward and leftward toward the wooden block rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the green peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hollow block on the block set peg, with fingers opening from a closed position."}, {"label": "goal", "start_step": 2458, "end_step": 2595, "id": "bcefbabe-6424-4d28-9fc7-ac4f1b4b90f7"}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "goal", "start_step": 2596, "end_step": 2748, "id": "8227272a-56bd-467d-b94a-f6a1ac25f21a"}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical rod and inserts the block downward along the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper block set area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 2749, "end_step": 2847, "id": "34f5a96f-e520-4196-aa3c-cc0d519342a3"}, {"label": "subtasks", "start_step": 2790, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2848, "end_step": 2970, "id": "20f77747-7a88-4e37-bf3c-601c6774c6cc"}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple rod on the rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: retreat: Right hand retreats upward away from the white block on the purple rod."}, {"label": "goal", "start_step": 2971, "end_step": 4512, "id": "3a5fcce2-eeda-446a-86da-b2bac5669353"}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 3060, "end_step": 3081, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3128, "end_step": 3284, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns and fits the green cube onto a white bottle, making small adjustments to the cube's position during mating."}, {"label": "subtasks", "start_step": 3285, "end_step": 3299, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube upward off the top of the white bottle."}, {"label": "subtasks", "start_step": 3300, "end_step": 3337, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube downward to the table and places it on the table surface."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 3352, "end_step": 3374, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3471, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 3472, "end_step": 3487, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube up from the table surface."}, {"label": "subtasks", "start_step": 3488, "end_step": 3517, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3518, "end_step": 4154, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand adjusts the green cube on a white bottle for mating, and releases its grip causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 4222, "end_step": 4327, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 4328, "end_step": 4341, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube slightly off the table surface."}, {"label": "subtasks", "start_step": 4342, "end_step": 4394, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube slightly and places it back on the table surface."}, {"label": "subtasks", "start_step": 4395, "end_step": 4409, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 4410, "end_step": 4499, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4500, "end_step": 4537, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 4513, "end_step": 4658, "id": "e27a5212-99d6-4fce-a0ed-ff53dd4aa98c"}, {"label": "subtasks", "start_step": 4538, "end_step": 4567, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block from the dark table to the position above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4568, "end_step": 4611, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped bottle by aligning the block's hole with the bottle top and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 4612, "end_step": 4664, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block on the purple-topped bottle without moving."}, {"label": "home", "start_step": 4686, "end_step": 4715, "id": "wnT_pQHvQMUAAfo2EgKn6"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block located on the left side of the wooden pegboard."}, {"label": "subtasks", "start_step": 112, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left of the wooden pegboard, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green cubic block from the dark table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand fits the green cubic block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left-front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front-left area of the table."}, {"label": "subtasks", "start_step": 412, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it backward and upward to above the front-left purple peg on the wooden board."}, {"label": "subtasks", "start_step": 525, "end_step": 719, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg and inserts it downward onto the peg, adjusting the part's position during assembly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downwards from the wooden base area toward the white hexagonal block on the left side of the workbench surface."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench surface without any observable movement."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 938, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the wooden rack and moves it downward along the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the middle purple peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1401, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1402, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release_reach: Right hand releases the white hexagonal block from the middle purple peg and moves downward toward the fallen white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: push: Right hand pushes the fallen white hexagonal block leftward across the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "subtasks", "start_step": 1718, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning the part's hole with the peg and lowering it to fit in place."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hexagonal part fitted on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple rod and releases the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the position above the wooden peg board."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden board."}, {"label": "subtasks", "start_step": 2070, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white hollow block with the post on the green block of the block tower and releases it."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table below the block tower."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upward and leftward toward the wooden block rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the green peg on the wooden rack and fits it down onto the peg."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hollow block on the block set peg, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 2625, "end_step": 2647, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2648, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical rod and inserts the block downward along the rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper block set area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2864, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple rod on the rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2954, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: retreat: Right hand retreats upward away from the white block on the purple rod."}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 3060, "end_step": 3081, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3128, "end_step": 3284, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns and fits the green cube onto a white bottle, making small adjustments to the cube's position during mating."}, {"label": "subtasks", "start_step": 3285, "end_step": 3299, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube upward off the top of the white bottle."}, {"label": "subtasks", "start_step": 3300, "end_step": 3337, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube downward to the table and places it on the table surface."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 3352, "end_step": 3374, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3471, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 3472, "end_step": 3487, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube up from the table surface."}, {"label": "subtasks", "start_step": 3488, "end_step": 3517, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}, {"label": "subtasks", "start_step": 3518, "end_step": 4154, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand adjusts the green cube on a white bottle for mating, and releases its grip causing the cube to fall onto the table."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the bottle array area to approach the green cube on the table surface."}, {"label": "subtasks", "start_step": 4222, "end_step": 4327, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}, {"label": "subtasks", "start_step": 4328, "end_step": 4341, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube slightly off the table surface."}, {"label": "subtasks", "start_step": 4342, "end_step": 4394, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube slightly and places it back on the table surface."}, {"label": "subtasks", "start_step": 4395, "end_step": 4409, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 4410, "end_step": 4499, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4500, "end_step": 4537, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 4538, "end_step": 4567, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block from the dark table to the position above the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 4568, "end_step": 4611, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped bottle by aligning the block's hole with the bottle top and lowering it onto the bottle."}, {"label": "subtasks", "start_step": 4612, "end_step": 4664, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block on the purple-topped bottle without moving."}], "episode_index": 15}
+{"source_uid": "7ebd8556fe83244d", "num_frames": 3224, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the table in front of the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 218, "id": "d90765a8-147e-4bce-afd0-8d583834d1d6"}, {"label": "valid", "start_step": 0, "end_step": 3188, "id": "Tm1upEKHnPT66Rhxtj-OL"}, {"label": "subtasks", "start_step": 120, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 219, "end_step": 365, "id": "17ebb417-9d6d-4b39-80ff-65d73c71cab4"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and moves it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is now mounted on the purple peg."}, {"label": "goal", "start_step": 366, "end_step": 464, "id": "bc1d80d7-47b6-448d-a38a-856444c071d5"}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal object placed on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 465, "end_step": 686, "id": "4c854bbe-9068-4cbd-a297-904da9f825d0"}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and fits the block onto the post."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to the bottom position."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 687, "end_step": 815, "id": "50b22b0c-b280-4e42-ad22-e0ebf0482534"}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white cube placed on the black table surface."}, {"label": "goal", "start_step": 816, "end_step": 953, "id": "42bf9d6e-dd8e-43dc-abe8-10de0bfb34d3"}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and moves it towards the target purple rod on the storage rack."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cube with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 954, "end_step": 1103, "id": "f2bab397-14b6-49c9-8c63-36a04be0bfa0"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1131, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1104, "end_step": 1253, "id": "070fecd1-bfff-4c8d-b94a-388770cdf3b5"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it tightly in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1254, "end_step": 1355, "id": "6863ac6a-2a11-4684-9c2c-ec28467ea1d0"}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustments to stabilize the block."}, {"label": "goal", "start_step": 1356, "end_step": 1532, "id": "7878435d-d9bd-446b-ac92-c17cce600688"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target purple rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green square block along the purple rod until it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1533, "end_step": 1838, "id": "de2ce57f-7a8c-45d4-bd08-23e484ba7b64"}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the held white hexagonal block to adjust its orientation, with little position change."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the reoriented white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 1839, "end_step": 2180, "id": "19a85aee-c84a-4f15-aa30-01f1704af181"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the target peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 1928, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "goal", "start_step": 2181, "end_step": 2306, "id": "8eacd8a6-c666-4f9d-be2b-443cb0872d15"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward empty, approaching the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight hand posture adjustment to stabilize the grip."}, {"label": "goal", "start_step": 2307, "end_step": 2465, "id": "15cd0c9e-70f3-4cb9-841a-3170c3ef0d46"}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the desktop."}, {"label": "goal", "start_step": 2466, "end_step": 2561, "id": "a1d46698-5ec9-4a11-81e7-0b56acbb70e4"}, {"label": "subtasks", "start_step": 2498, "end_step": 2579, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the desktop."}, {"label": "goal", "start_step": 2562, "end_step": 2828, "id": "91271e97-93a2-4cc7-8882-e849195b8a11"}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the tabletop and moves it to the position above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2819, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block downwards to secure it in the slot of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2849, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the wooden block rack."}, {"label": "goal", "start_step": 2829, "end_step": 2945, "id": "00285fc2-dcd7-4c23-83b8-64a355d68916"}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the black table."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table."}, {"label": "goal", "start_step": 2946, "end_step": 3161, "id": "69d6bc4f-ef60-40a5-bb48-1ee24b51c093"}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with purple cap and inserts it onto the bottle to finish assembly."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "home", "start_step": 3189, "end_step": 3223, "id": "Zd3q2e0E2oFtUwN7otDzE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the table in front of the left side of the wooden rack."}, {"label": "subtasks", "start_step": 120, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and moves it to above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is now mounted on the purple peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal object placed on the table."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and fits the block onto the post."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to the bottom position."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white cube placed on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and moves it towards the target purple rod on the storage rack."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cube with the purple rod and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1131, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it tightly in position."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustments to stabilize the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target purple rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green square block along the purple rod until it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1581, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1657, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the held white hexagonal block to adjust its orientation, with little position change."}, {"label": "subtasks", "start_step": 1770, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the reoriented white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the target peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 1928, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward empty, approaching the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight hand posture adjustment to stabilize the grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2384, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 2498, "end_step": 2579, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the tabletop and moves it to the position above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2819, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block downwards to secure it in the slot of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2849, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the wooden block rack."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the black table."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with purple cap and inserts it onto the bottle to finish assembly."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}], "episode_index": 16}
+{"source_uid": "597e4a4ed9928f16", "num_frames": 3890, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side of the table downward and leftward toward the green hexagonal block placed in front of the wooden pegboard, with fingers held extended."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "00bf2e36-8576-4bf4-a568-f2a99943e66a"}, {"label": "valid", "start_step": 0, "end_step": 3859, "id": "Db7t_oDHG3zEuQb07zwDb"}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and wrist orientation slightly to establish a stable grip on the block."}, {"label": "goal", "start_step": 214, "end_step": 387, "id": "f6cf3570-a2f8-431c-836b-4453fa013f01"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green block, moves it downward along the leftmost purple peg to the wooden base, and opens fingers to release the block onto the base."}, {"label": "goal", "start_step": 388, "end_step": 477, "id": "85a3048a-4b02-4c34-aa07-ec7f0e405339"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward from the pegboard area toward the front-left white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 428, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block, closes fingers around the block and makes small positional adjustments to establish a stable grip."}, {"label": "goal", "start_step": 478, "end_step": 819, "id": "59e2fa26-a611-4feb-b52f-38cc12eeb9f5"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple peg and fits the nut onto the peg to begin assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: press: Right hand applies downward pressure on the white hexagonal nut, making small orientation adjustments to slide the nut further down the purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the leftmost white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "goal", "start_step": 820, "end_step": 978, "id": "977cdbc9-deb4-4259-b5d7-176b5b68d511"}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving, maintaining a stable, motionless grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 979, "end_step": 1260, "id": "830845a3-3f71-4807-85e2-47ba77b7db16"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1297, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and moves the block downward to fit it onto the rod."}, {"label": "goal", "start_step": 1261, "end_step": 1383, "id": "15fd976b-685b-49a8-b8b3-4b0b6ffe5b10"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden stand area toward the white hexagonal block placed on the table in front of the stand, with no contact made to the target block yet."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block and makes slight wrist and finger adjustments to establish a stable grip, with the block still resting on the table surface."}, {"label": "goal", "start_step": 1384, "end_step": 1560, "id": "15e626fa-0a87-4903-85b0-1200b0d2d808"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1544, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand makes slight positional and orientational adjustments to the white hexagonal cylinder to align its central hole with the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal cylinder down along the purple peg until it rests stably on the supporting block below on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the black table surface, with fingers kept open."}, {"label": "goal", "start_step": 1561, "end_step": 1755, "id": "730d7522-b790-40e4-84af-6545b8921774"}, {"label": "subtasks", "start_step": 1598, "end_step": 1769, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger and wrist positions around the green hexagonal block, closing fingers gradually to attempt establishing a stable grip on the block."}, {"label": "goal", "start_step": 1756, "end_step": 1911, "id": "dc5927cd-4950-415f-a428-d8db89665709"}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns and presses it down to fit onto the purple rod of the wooden block base."}, {"label": "goal", "start_step": 1912, "end_step": 2010, "id": "f4783581-01d4-4fa1-a8b8-dc2351a5aea7"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base area, approaching the white hexagonal block placed on the table near the loose green block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block with minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block is fully separated from the dark work surface."}, {"label": "goal", "start_step": 2011, "end_step": 2190, "id": "b77a164b-65f5-42e7-8866-76f84e21f748"}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts its position slightly, and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, fingers gradually opening to separate fully from the block."}, {"label": "goal", "start_step": 2191, "end_step": 2328, "id": "61551c9e-92b4-478d-bbe7-28c775b88b4d"}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block placed near the wooden base without touching the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger position adjustments to establish a grasp, while the block stays stationary on the table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 2329, "end_step": 2472, "id": "3085f243-5152-4468-893b-9af8dc85f495"}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand moves downward to place the grasped white hexagonal block onto the base of the purple rod on the wooden pegboard, until the block is fully supported by the base."}, {"label": "goal", "start_step": 2473, "end_step": 2589, "id": "a73f52ec-cf23-4251-8272-ed0f02ad9772"}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod base, separating fingers from the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty rightward and downward toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making small finger adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block steadily on the right side of the table surface without observable movement."}, {"label": "goal", "start_step": 2590, "end_step": 2733, "id": "c2b4e223-6f1e-4349-be45-1f9fa5b7a3f4"}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden block holder and moves it downward to insert the block into the slot."}, {"label": "subtasks", "start_step": 2730, "end_step": 2797, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the upper area of the wooden bottle rack downward and rightward toward the green cube placed on the dark table surface."}, {"label": "goal", "start_step": 2734, "end_step": 3342, "id": "c6745973-8fc5-411c-905c-89e60caddc79"}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cube on the dark table surface to form a stable grip, with the cube remaining in contact with the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube upward and leftward through the air to position it directly above the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2888, "end_step": 3021, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the grasped green cube to align its central hole with the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3022, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green cube above the purple-topped bottle on the wooden rack without any observable movement of the hand or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3247, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube downward and rightward through the air away from the bottle rack, moving back toward the green cube's original position on the table."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the green cube until it rests stably on the dark table surface, opening its fingers to release the grip on the cube."}, {"label": "subtasks", "start_step": 3270, "end_step": 3291, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty a short distance away from the green cube resting on the table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3329, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: idle: Right hand remains empty at a position adjacent to the green cube on the table, with no observable movement."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 3343, "end_step": 3834, "id": "19b7fba5-9e53-4945-a233-f4d5a642f311"}, {"label": "subtasks", "start_step": 3368, "end_step": 3381, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the green hexagonal block upward to completely raise it off the table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3427, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the held green hexagonal block upward and forward to position it above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 3428, "end_step": 3584, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block stationary in the air directly above the purple peg on the wooden stand without moving."}, {"label": "subtasks", "start_step": 3585, "end_step": 3607, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted green hexagonal block on the purple peg without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 3795, "end_step": 3839, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the grip on the green hexagonal block resting on the purple peg."}, {"label": "home", "start_step": 3860, "end_step": 3889, "id": "ua_f10J7I7WP997SKJULy"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side of the table downward and leftward toward the green hexagonal block placed in front of the wooden pegboard, with fingers held extended."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and wrist orientation slightly to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green block, moves it downward along the leftmost purple peg to the wooden base, and opens fingers to release the block onto the base."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward from the pegboard area toward the front-left white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 428, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block, closes fingers around the block and makes small positional adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple peg and fits the nut onto the peg to begin assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: press: Right hand applies downward pressure on the white hexagonal nut, making small orientation adjustments to slide the nut further down the purple peg."}, {"label": "subtasks", "start_step": 810, "end_step": 877, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the leftmost white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 878, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving, maintaining a stable, motionless grip."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1035, "end_step": 1297, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden stand area toward the white hexagonal block placed on the table in front of the stand, with no contact made to the target block yet."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block and makes slight wrist and finger adjustments to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1544, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand makes slight positional and orientational adjustments to the white hexagonal cylinder to align its central hole with the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal cylinder down along the purple peg until it rests stably on the supporting block below on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the black table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 1598, "end_step": 1769, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger and wrist positions around the green hexagonal block, closing fingers gradually to attempt establishing a stable grip on the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns and presses it down to fit onto the purple rod of the wooden block base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base area, approaching the white hexagonal block placed on the table near the loose green block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block with minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block is fully separated from the dark work surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts its position slightly, and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, fingers gradually opening to separate fully from the block."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block placed near the wooden base without touching the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2324, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger position adjustments to establish a grasp, while the block stays stationary on the table surface."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position directly above the purple vertical rod on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2459, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand moves downward to place the grasped white hexagonal block onto the base of the purple rod on the wooden pegboard, until the block is fully supported by the base."}, {"label": "subtasks", "start_step": 2482, "end_step": 2497, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod base, separating fingers from the block."}, {"label": "subtasks", "start_step": 2498, "end_step": 2527, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty rightward and downward toward the loose white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making small finger adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block steadily on the right side of the table surface without observable movement."}, {"label": "subtasks", "start_step": 2602, "end_step": 2654, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden block holder and moves it downward to insert the block into the slot."}, {"label": "subtasks", "start_step": 2730, "end_step": 2797, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the upper area of the wooden bottle rack downward and rightward toward the green cube placed on the dark table surface."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cube on the dark table surface to form a stable grip, with the cube remaining in contact with the table."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2887, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube upward and leftward through the air to position it directly above the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2888, "end_step": 3021, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the grasped green cube to align its central hole with the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3022, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green cube above the purple-topped bottle on the wooden rack without any observable movement of the hand or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3247, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube downward and rightward through the air away from the bottle rack, moving back toward the green cube's original position on the table."}, {"label": "subtasks", "start_step": 3248, "end_step": 3269, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the green cube until it rests stably on the dark table surface, opening its fingers to release the grip on the cube."}, {"label": "subtasks", "start_step": 3270, "end_step": 3291, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty a short distance away from the green cube resting on the table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3329, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: idle: Right hand remains empty at a position adjacent to the green cube on the table, with no observable movement."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 3368, "end_step": 3381, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the green hexagonal block upward to completely raise it off the table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3427, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the held green hexagonal block upward and forward to position it above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 3428, "end_step": 3584, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block stationary in the air directly above the purple peg on the wooden stand without moving."}, {"label": "subtasks", "start_step": 3585, "end_step": 3607, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted green hexagonal block on the purple peg without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 3795, "end_step": 3839, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the grip on the green hexagonal block resting on the purple peg."}], "episode_index": 17}
+{"source_uid": "3c914e601ce8a771", "num_frames": 4033, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the black table surface, without touching the block."}, {"label": "goal", "start_step": 0, "end_step": 889, "id": "9a7f0f4c-0215-478c-9b78-dcfa7b966059"}, {"label": "valid", "start_step": 0, "end_step": 4001, "id": "XOZ_JdMEMu0hy57S7dJ1V"}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block that has fallen onto the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand reorients the green hexagonal block on the black table, rotating the block to adjust its posture while its position remains mostly unchanged."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 890, "end_step": 1027, "id": "7a6ca938-c669-439c-bbee-1de6b445b342"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block upward off the dark table surface and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and lowers it along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1028, "end_step": 1300, "id": "03d05efe-7901-407f-bbdd-27a60c229358"}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table directly below the leftmost purple rod, keeping empty."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the white hexagonal block and moves it upward to align and fit onto the leftmost purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1301, "end_step": 1459, "id": "4645c931-5891-4cd0-aff2-2dd3d6cbaab2"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and leftward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and inserts the block downward along the peg to assemble with the green block below."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and moving slightly upward."}, {"label": "goal", "start_step": 1460, "end_step": 1570, "id": "30a01df9-89ac-4168-ab25-a34d6e865f21"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1571, "end_step": 1750, "id": "f9f0d3a9-ced6-4a97-b4b8-d63c08af5ffa"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece off the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1739, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with a purple peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the frontmost purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1751, "end_step": 1873, "id": "f1285740-f6c5-4407-841b-9e0eecff69ea"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the green square block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the green block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1874, "end_step": 2038, "id": "b5076fed-1ebd-425e-863f-485c50618d6f"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table next to the green block without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cubic block onto the middle purple peg of the wooden base, then opens fingers to release the block."}, {"label": "goal", "start_step": 2039, "end_step": 2158, "id": "f8a23d23-54c2-4525-9002-a16ca097c235"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg assembly area toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2181, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2159, "end_step": 2308, "id": "499ed6c5-6660-412f-b4a7-052dd291e4c0"}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target vertical peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white block onto the purple vertical rod on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2309, "end_step": 2407, "id": "37a2a9c5-46b1-4385-b7da-f0412be248f7"}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2408, "end_step": 2560, "id": "ddbdb51e-c7ba-4719-846d-f66fbb9ebdbb"}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it toward the peg board at the back of the frame."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the peg on the peg board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg of the board without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block with the purple vertical rod and releases its grasp."}, {"label": "goal", "start_step": 2561, "end_step": 2668, "id": "edce2e1b-bae2-41c7-bd38-d439da998608"}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 2669, "end_step": 2818, "id": "dd775d7e-3b56-4b98-a984-fa254b848501"}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod on the wooden rack and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2798, "end_step": 2804, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2805, "end_step": 2841, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand adjusts the white block on the purple rod to complete assembly, then releases the block."}, {"label": "goal", "start_step": 2819, "end_step": 3514, "id": "6d2e2968-45f1-426c-9b5c-ad555d2f8c18"}, {"label": "subtasks", "start_step": 2842, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up until it leaves the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3021, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves up and left to the position above the purple rod."}, {"label": "subtasks", "start_step": 3022, "end_step": 3119, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod, lowers it onto the rod, and adjusts the position to complete the nesting assembly."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the purple rod."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left towards the white block on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3239, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the wooden rack, and slightly adjusts the grip."}, {"label": "subtasks", "start_step": 3240, "end_step": 3254, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up until it leaves the support of the wooden rack."}, {"label": "subtasks", "start_step": 3255, "end_step": 3314, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves down and right to the position above the table surface."}, {"label": "subtasks", "start_step": 3315, "end_step": 3329, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the table surface until it is stably supported by the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the table."}, {"label": "subtasks", "start_step": 3345, "end_step": 3397, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves to the other side of the white block on the table, approaching the block again."}, {"label": "subtasks", "start_step": 3398, "end_step": 3457, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the table again, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 3458, "end_step": 3509, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without any observable movement."}, {"label": "subtasks", "start_step": 3510, "end_step": 3531, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the right side of the table, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 3515, "end_step": 3679, "id": "2ccdbaca-5677-45d2-9f6d-f9ab9660af1b"}, {"label": "subtasks", "start_step": 3532, "end_step": 3561, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3562, "end_step": 3674, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 3675, "end_step": 3689, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 3680, "end_step": 3772, "id": "5f2ae61e-53b5-4f0c-b008-78055946fe23"}, {"label": "subtasks", "start_step": 3690, "end_step": 3727, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the small purple object on the top of the white bottle at the wooden rack, then reaches toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3728, "end_step": 3794, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 3773, "end_step": 3973, "id": "dabe7053-b9a0-402e-80c4-2d8ca6c2a76c"}, {"label": "subtasks", "start_step": 3795, "end_step": 3824, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white rack with cylindrical posts at the table center."}, {"label": "subtasks", "start_step": 3825, "end_step": 3877, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top-right post of the white rack and inserts it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 3878, "end_step": 3974, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top-right post of the white rack without moving."}, {"label": "home", "start_step": 4002, "end_step": 4032, "id": "PbK_a5rCtovamWbDM5slH"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the black table surface, without touching the block."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 397, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block that has fallen onto the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 884, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand reorients the green hexagonal block on the black table, rotating the block to adjust its posture while its position remains mostly unchanged."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block upward off the dark table surface and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and lowers it along the peg to complete the fitting assembly."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table directly below the leftmost purple rod, keeping empty."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1289, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the white hexagonal block and moves it upward to align and fit onto the leftmost purple rod."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and leftward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1454, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and inserts the block downward along the peg to assemble with the green block below."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and moving slightly upward."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1589, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece off the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1739, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with a purple peg on the wooden rack and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the frontmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the green square block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the green block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table next to the green block without moving."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cubic block onto the middle purple peg of the wooden base, then opens fingers to release the block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg assembly area toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2181, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target vertical peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 2242, "end_step": 2294, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target peg without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white block onto the purple vertical rod on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2361, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2430, "end_step": 2451, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it toward the peg board at the back of the frame."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the peg on the peg board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg of the board without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block with the purple vertical rod and releases its grasp."}, {"label": "subtasks", "start_step": 2580, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2685, "end_step": 2721, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2797, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod on the wooden rack and inserts it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2798, "end_step": 2804, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2805, "end_step": 2841, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand adjusts the white block on the purple rod to complete assembly, then releases the block."}, {"label": "subtasks", "start_step": 2842, "end_step": 2887, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2977, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up until it leaves the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3021, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves up and left to the position above the purple rod."}, {"label": "subtasks", "start_step": 3022, "end_step": 3119, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod, lowers it onto the rod, and adjusts the position to complete the nesting assembly."}, {"label": "subtasks", "start_step": 3120, "end_step": 3134, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the purple rod."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left towards the white block on the wooden rack."}, {"label": "subtasks", "start_step": 3180, "end_step": 3239, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the wooden rack, and slightly adjusts the grip."}, {"label": "subtasks", "start_step": 3240, "end_step": 3254, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up until it leaves the support of the wooden rack."}, {"label": "subtasks", "start_step": 3255, "end_step": 3314, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves down and right to the position above the table surface."}, {"label": "subtasks", "start_step": 3315, "end_step": 3329, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the table surface until it is stably supported by the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the table."}, {"label": "subtasks", "start_step": 3345, "end_step": 3397, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves to the other side of the white block on the table, approaching the block again."}, {"label": "subtasks", "start_step": 3398, "end_step": 3457, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the table again, and slightly adjusts the grip posture."}, {"label": "subtasks", "start_step": 3458, "end_step": 3509, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without any observable movement."}, {"label": "subtasks", "start_step": 3510, "end_step": 3531, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the right side of the table, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 3532, "end_step": 3561, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3562, "end_step": 3674, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and fits it down along the rod to complete assembly."}, {"label": "subtasks", "start_step": 3675, "end_step": 3689, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 3690, "end_step": 3727, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the small purple object on the top of the white bottle at the wooden rack, then reaches toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3728, "end_step": 3794, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3795, "end_step": 3824, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white rack with cylindrical posts at the table center."}, {"label": "subtasks", "start_step": 3825, "end_step": 3877, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top-right post of the white rack and inserts it onto the post to complete assembly."}, {"label": "subtasks", "start_step": 3878, "end_step": 3974, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top-right post of the white rack without moving."}], "episode_index": 18}
+{"source_uid": "88c950aabb07f750", "num_frames": 3493, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white block located at the top left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "5be79ace-0317-47de-b72c-363c367c8d5e"}, {"label": "valid", "start_step": 0, "end_step": 3461, "id": "N2pim4Okn5F3tXcNJ0yaO"}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to form a stable grasp on the white block at the top left of the wooden base."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 166, "end_step": 648, "id": "2770d055-823b-485a-8597-aa016d476229"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up away from the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod until it reaches the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 651, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block and moves slightly upward."}, {"label": "goal", "start_step": 649, "end_step": 783, "id": "a2295483-42ba-4ed6-ad07-9e5e8503bc92"}, {"label": "subtasks", "start_step": 652, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand stays empty above the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 784, "end_step": 1062, "id": "081f1200-161e-4ed5-a46f-27f7eb186a48"}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 1049, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 1063, "end_step": 1239, "id": "1c86f480-3113-448b-9af1-5d148732a585"}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1259, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1240, "end_step": 1392, "id": "3b3d904c-04f1-4158-a25d-91c693fd45c4"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple rod on the wooden base, lowering it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1393, "end_step": 1560, "id": "f934faa2-62e7-4341-96e4-9163e07596c4"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "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 adjusts fingers to grasp the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "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 white cylindrical block off the black table surface."}, {"label": "goal", "start_step": 1561, "end_step": 1746, "id": "dbbf00ac-6a46-40ad-9359-2df6442bd305"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 white cylindrical block to the position above the purple rod of the wooden stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the green cube on the table."}, {"label": "goal", "start_step": 1747, "end_step": 1866, "id": "cd42ae55-9f94-4834-a9f5-a8df688df8ea"}, {"label": "subtasks", "start_step": 1800, "end_step": 1881, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cube placed on the table."}, {"label": "goal", "start_step": 1867, "end_step": 2004, "id": "70a7cbf5-ca8a-457f-9044-1801a30b1d52"}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it onto the peg."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod on the wooden base."}, {"label": "goal", "start_step": 2005, "end_step": 2109, "id": "243c5976-b04e-4fdd-a87e-11a8ef415088"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2129, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 2110, "end_step": 2295, "id": "8371bd21-d417-4128-806e-dc3cc46765c1"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward to fix it firmly on the peg."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 2296, "end_step": 2388, "id": "569ef105-2c0e-49b3-9896-83f2c1ddd6d8"}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 2389, "end_step": 2550, "id": "579e383a-a2c8-4875-9570-b8c1014d85d7"}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2452, "end_step": 2549, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder fitted on the purple rod."}, {"label": "goal", "start_step": 2551, "end_step": 2673, "id": "5f32bda1-5a72-43eb-b2ed-2a6c0b62256b"}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to its lower right."}, {"label": "subtasks", "start_step": 2588, "end_step": 2684, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts its fingers to form a stable grip."}, {"label": "goal", "start_step": 2674, "end_step": 2838, "id": "3bf2ab64-3141-40a6-a2ae-7e6272d10ef1"}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block on the top of the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2834, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post by pushing it down along the post."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the right side of the wooden base."}, {"label": "goal", "start_step": 2839, "end_step": 2958, "id": "aff89db1-fc9b-4f2e-87fe-366ff01608a0"}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2895, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2959, "end_step": 3417, "id": "0f7ed2f4-f5df-43bd-8a74-ed7dff188871"}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block from the table and transports it towards the white cylindrical rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the top white cylinder on the rack and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3419, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hollow block down along the white cylinder to fit it stably, then releases the block."}, {"label": "home", "start_step": 3462, "end_step": 3492, "id": "qahSHpu2KZMUR2hgjEIlO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white block located at the top left of the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to form a stable grasp on the white block at the top left of the wooden base."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up away from the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 405, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod until it reaches the wooden base."}, {"label": "subtasks", "start_step": 645, "end_step": 651, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block and moves slightly upward."}, {"label": "subtasks", "start_step": 652, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand stays empty above the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 1049, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1125, "end_step": 1259, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple rod on the wooden base, lowering it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1559, "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 adjusts fingers to grasp the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "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 white cylindrical block off the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "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 white cylindrical block to the position above the purple rod of the wooden stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the green cube on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1881, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cube placed on the table."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden pegboard with pegs."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it onto the peg."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2129, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2294, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward to fix it firmly on the peg."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 2325, "end_step": 2369, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2452, "end_step": 2549, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to its lower right."}, {"label": "subtasks", "start_step": 2588, "end_step": 2684, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block on the top of the purple post on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2834, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post by pushing it down along the post."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the right side of the wooden base."}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green square block placed on the table."}, {"label": "subtasks", "start_step": 2895, "end_step": 2977, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block from the table and transports it towards the white cylindrical rack."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the top white cylinder on the rack and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3419, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hollow block down along the white cylinder to fit it stably, then releases the block."}], "episode_index": 19}
+{"source_uid": "2c9cc6a6efdf7ffe", "num_frames": 3801, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with open fingers, showing no autonomous movement or hand shape change during this period."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "1bcc829f-849f-4cb9-bbc6-7405483af11c"}, {"label": "valid", "start_step": 0, "end_step": 3769, "id": "xhKe2EvxU8oBPvpTBXpbh"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand with open fingers moves downward and leftward from its resting position toward the small object on the table in front of the wooden block base."}, {"label": "subtasks", "start_step": 98, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the small target object near the green block on the table, making small finger and wrist adjustments to establish a stable grasp."}, {"label": "goal", "start_step": 187, "end_step": 321, "id": "7db2937d-14c5-4472-a939-1c93cd150c6d"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward, completely separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block through the air toward the wooden assembly board, positioning it directly above the target left purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the left purple peg, and slides it down the peg to seat it on the existing stack of blocks as part of the assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the green block onto the purple rod of the wooden base, fingers open to release the block as it settles stably on the base."}, {"label": "goal", "start_step": 322, "end_step": 489, "id": "28f5dc3e-12d8-48d7-9177-8f1871849371"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front left white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand fingers make slight adjusting movements while closing around the white hexagonal block to form a stable grip."}, {"label": "goal", "start_step": 490, "end_step": 612, "id": "c281101f-ff03-4a29-b90f-68c3e6b135b7"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, assembling it onto the existing green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand holds the white-topped block, lowers it onto the purple peg of the wooden assembly until the block is fully seated, then opens fingers to release the block."}, {"label": "goal", "start_step": 613, "end_step": 738, "id": "467eec47-b2fe-4b7e-bd67-71af59b59011"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves down and slightly left from the wooden assembly toward the leftmost white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the leftmost white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the leftmost white hexagonal nut on the black table surface without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 739, "end_step": 867, "id": "bd7de0ed-15cb-40ac-995f-523810ead839"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to place it onto the purple post on the wooden base."}, {"label": "goal", "start_step": 868, "end_step": 978, "id": "347f88f0-91c7-45f5-a6ec-9a09439d4db7"}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward empty to approach the white hollow block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hollow block on the table to establish a stable grip."}, {"label": "goal", "start_step": 979, "end_step": 1110, "id": "9b6496cf-dacc-4886-8677-f427ca5eefaa"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block fully off the table surface and moves it upward to position it directly above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central opening of the white cylindrical block with the purple post and lowers the block to fit it onto the post, establishing the nested assembly connection."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block onto the purple vertical rod on the wooden base, releases the block, and moves fingers away from the positioned object."}, {"label": "goal", "start_step": 1111, "end_step": 1230, "id": "9b6cf2d2-7f8c-4177-ae94-ece8cdcb973c"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the left green hexagonal block on the black table surface, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes small finger and wrist adjustments to establish contact and form a grasp on the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward, until the block is fully separated from the dark table surface."}, {"label": "goal", "start_step": 1231, "end_step": 1644, "id": "0549c86e-b0c0-4340-b556-84a60c8e071d"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block through the air toward the wooden assembly rack, positioning the block directly above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the purple vertical rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand slides the green hexagonal block down the purple vertical rod, lowering it until the block rests stably on the underlying white block on the assembly rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the green hexagonal block, separating from the block which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand stays empty above the wooden block assembly base without any observable movement."}, {"label": "goal", "start_step": 1645, "end_step": 2673, "id": "9cb42c84-0281-48cc-a508-e11184e8e131"}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal block placed on the dark table surface to the left of the green hexagonal block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to finger positions to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2309, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then moves the block downward to fit onto the rod, making small positional adjustments to the block during the process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand grips the white hexagonal block on the purple rod and pulls it upward until the block is fully removed from the rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2519, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block downward, moving it back toward the area of the table where the block was originally placed."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal block downward until the block rests stably on the table surface, with fingers still holding the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the table, separating the fingers from contact with the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty near the placed white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "goal", "start_step": 2674, "end_step": 2841, "id": "7731f9c0-1a4a-424b-83af-f99aa89b18de"}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2730, "end_step": 2834, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut adjacent to the wooden assembly base, with fingers kept open."}, {"label": "goal", "start_step": 2842, "end_step": 3000, "id": "5b9a5192-f8a7-442f-b9a0-61f92c906bf8"}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger and wrist adjustments to establish a stable grip, with the nut remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward from the dark table surface, with the block fully detaching from the table by the end of the segment."}, {"label": "goal", "start_step": 3001, "end_step": 3138, "id": "e9a1c397-249f-4a6f-a317-d194f06555a4"}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the purple rod, and moves the block downward along the rod until the block rests steadily on the wooden base surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block seated on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface near the stacked block set."}, {"label": "goal", "start_step": 3139, "end_step": 3246, "id": "05ff3105-48dc-4ed6-bf61-62a29c91a98e"}, {"label": "subtasks", "start_step": 3180, "end_step": 3224, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip with the nut still resting on the table."}, {"label": "goal", "start_step": 3247, "end_step": 3384, "id": "48a6c10a-6d8e-4ef2-aa9d-0a3a7ea004ac"}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and left toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 3300, "end_step": 3374, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 3375, "end_step": 3381, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3382, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 3385, "end_step": 3528, "id": "018465a7-b640-4592-b045-2596c103bd43"}, {"label": "subtasks", "start_step": 3390, "end_step": 3441, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3442, "end_step": 3547, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make slight adjustments to establish a grip on the block, which remains on the table surface."}, {"label": "goal", "start_step": 3529, "end_step": 3729, "id": "32d06eb6-b344-41b6-873f-e1393f912f74"}, {"label": "subtasks", "start_step": 3548, "end_step": 3561, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand moves vertically upward to lift the green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 3562, "end_step": 3599, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward to the position directly above the target white peg on the wooden block stand."}, {"label": "subtasks", "start_step": 3600, "end_step": 3734, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the target white peg on the wooden stand, moves downward to fit the block onto the peg to establish the assembly connection."}, {"label": "home", "start_step": 3770, "end_step": 3800, "id": "givHpxhwpaypR9MUsMTyN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with open fingers, showing no autonomous movement or hand shape change during this period."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand with open fingers moves downward and leftward from its resting position toward the small object on the table in front of the wooden block base."}, {"label": "subtasks", "start_step": 98, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the small target object near the green block on the table, making small finger and wrist adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward, completely separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block through the air toward the wooden assembly board, positioning it directly above the target left purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the left purple peg, and slides it down the peg to seat it on the existing stack of blocks as part of the assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the green block onto the purple rod of the wooden base, fingers open to release the block as it settles stably on the base."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front left white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand fingers make slight adjusting movements while closing around the white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and moves it upward to the position above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, assembling it onto the existing green block below."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand holds the white-topped block, lowers it onto the purple peg of the wooden assembly until the block is fully seated, then opens fingers to release the block."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves down and slightly left from the wooden assembly toward the leftmost white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the leftmost white hexagonal nut to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the leftmost white hexagonal nut on the black table surface without visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 735, "end_step": 757, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to place it onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward empty to approach the white hollow block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hollow block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block fully off the table surface and moves it upward to position it directly above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central opening of the white cylindrical block with the purple post and lowers the block to fit it onto the post, establishing the nested assembly connection."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block onto the purple vertical rod on the wooden base, releases the block, and moves fingers away from the positioned object."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the left green hexagonal block on the black table surface, with fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes small finger and wrist adjustments to establish contact and form a grasp on the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward, until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block through the air toward the wooden assembly rack, positioning the block directly above the purple vertical rod on the rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the purple vertical rod, fitting the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1320, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand slides the green hexagonal block down the purple vertical rod, lowering it until the block rests stably on the underlying white block on the assembly rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the green hexagonal block, separating from the block which remains seated on the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand stays empty above the wooden block assembly base without any observable movement."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal block placed on the dark table surface to the left of the green hexagonal block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to finger positions to establish a stable grip while the block remains on the table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple vertical rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2309, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then moves the block downward to fit onto the rod, making small positional adjustments to the block during the process."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand grips the white hexagonal block on the purple rod and pulls it upward until the block is fully removed from the rod."}, {"label": "subtasks", "start_step": 2362, "end_step": 2519, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block downward, moving it back toward the area of the table where the block was originally placed."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal block downward until the block rests stably on the table surface, with fingers still holding the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the table, separating the fingers from contact with the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty near the placed white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2730, "end_step": 2834, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut adjacent to the wooden assembly base, with fingers kept open."}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger and wrist adjustments to establish a stable grip, with the nut remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward from the dark table surface, with the block fully detaching from the table by the end of the segment."}, {"label": "subtasks", "start_step": 3022, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the purple rod, and moves the block downward along the rod until the block rests steadily on the wooden base surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3134, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block seated on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 3135, "end_step": 3179, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface near the stacked block set."}, {"label": "subtasks", "start_step": 3180, "end_step": 3224, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip with the nut still resting on the table."}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and left toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 3300, "end_step": 3374, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 3375, "end_step": 3381, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3382, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 3390, "end_step": 3441, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 3442, "end_step": 3547, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make slight adjustments to establish a grip on the block, which remains on the table surface."}, {"label": "subtasks", "start_step": 3548, "end_step": 3561, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand moves vertically upward to lift the green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 3562, "end_step": 3599, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward to the position directly above the target white peg on the wooden block stand."}, {"label": "subtasks", "start_step": 3600, "end_step": 3734, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the target white peg on the wooden stand, moves downward to fit the block onto the peg to establish the assembly connection."}], "episode_index": 20}
+{"source_uid": "06018246045d8e7e", "num_frames": 2949, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the home position and stops, remaining empty with fingers slightly open. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 234, "id": "0061639f-5a6f-4bee-b956-d9a411ef0765"}, {"label": "valid", "start_step": 0, "end_step": 2917, "id": "aQbV-hsNzulMmkgb_VXpW"}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the left side of the table without moving, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden base, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 235, "end_step": 477, "id": "128d6c9e-416b-479e-8723-06df0b1ea4f5"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base, lowering it along the peg until it reaches the wooden base plate."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 478, "end_step": 645, "id": "2026574e-cc87-4d2c-9804-029f671ed391"}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves down and left to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 646, "end_step": 786, "id": "aee15d8b-274a-47e0-acbe-a4d2eb2be3e0"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it upward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 787, "end_step": 912, "id": "4ebc8ae9-5d7a-49f9-ae6b-6d34f4921c5f"}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "goal", "start_step": 913, "end_step": 1143, "id": "c174867f-e87b-4dc0-ac74-9c6c611df90a"}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top-left of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1144, "end_step": 1239, "id": "b92a98bc-727e-4b09-b579-be66aa7c4a48"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal cylindrical object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal cylindrical object on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1240, "end_step": 1374, "id": "05e2bab0-7b96-4235-b377-1a3b447186ca"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table and transports it to above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the purple vertical rod by aligning and lowering it into the assembled position."}, {"label": "goal", "start_step": 1375, "end_step": 1506, "id": "b81196fb-9732-40cb-a873-4a809c089dc6"}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1507, "end_step": 1662, "id": "63f063d8-8c6f-459a-ba6d-1713ba79112a"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the green block of the wooden base, with fingers gradually opening."}, {"label": "goal", "start_step": 1663, "end_step": 1812, "id": "08a19d21-7b9a-43c0-b51d-f0dfdaf62cb2"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block and white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white cylindrical object resting on the green cube, with the object staying stationary on the support."}, {"label": "goal", "start_step": 1813, "end_step": 1995, "id": "9c776321-b9d5-4373-9258-d7ae016166ad"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the green cube and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical object with the purple rod on the wooden base and inserts the object downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical object, fully separating from the object."}, {"label": "goal", "start_step": 1996, "end_step": 2157, "id": "f4426974-ff3d-4f15-bf6e-c72ebe4a9157"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2211, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table adjacent to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2158, "end_step": 2361, "id": "ab6f0a45-3741-4248-a57b-1967eef83daf"}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand pushes the white block downward along the purple rod to complete the assembly."}, {"label": "goal", "start_step": 2362, "end_step": 2463, "id": "766976ad-7b6f-41d0-a756-0fe924ff19bc"}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white block on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2481, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2464, "end_step": 2610, "id": "4c6b3f90-a7d9-4293-9bb7-2c35b754fdff"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2609, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white perforated cube with the purple rod on the wooden rack and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white bottle on the wooden rack, with fingers opening and separating from the bottle top."}, {"label": "goal", "start_step": 2611, "end_step": 2751, "id": "2cfe9df2-c17f-4ceb-869f-faad5d35d3df"}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward to approach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2774, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2752, "end_step": 2886, "id": "b8a0251c-5c04-4ff0-8c94-ebab687e5f78"}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and leftward toward the bottle rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target bottle on the wooden rack to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the green block down onto the target bottle until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2918, "end_step": 2948, "id": "7Y5IlZj7mSRpSQ19g4iEG"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the home position and stops, remaining empty with fingers slightly open. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 38, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the left side of the table without moving, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 464, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base, lowering it along the peg until it reaches the wooden base plate."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves down and left to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it upward to the position above the wooden pegboard."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the leftmost purple peg with fingers opening."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting slightly to stabilize the grip."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 990, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard by aligning the hole and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top-left of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal cylindrical object on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal cylindrical object on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table and transports it to above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the purple vertical rod by aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the green block of the wooden base, with fingers gradually opening."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block and white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white cylindrical object resting on the green cube, with the object staying stationary on the support."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the green cube and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical object with the purple rod on the wooden base and inserts the object downward onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical object, fully separating from the object."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2211, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table adjacent to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand pushes the white block downward along the purple rod to complete the assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white block on the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2481, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2609, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white perforated cube with the purple rod on the wooden rack and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2610, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white bottle on the wooden rack, with fingers opening and separating from the bottle top."}, {"label": "subtasks", "start_step": 2632, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward to approach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2774, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2797, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and leftward toward the bottle rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target bottle on the wooden rack to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2894, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the green block down onto the target bottle until the block is stably supported by the bottle."}], "episode_index": 21}
+{"source_uid": "27c76cb11696449b", "num_frames": 3889, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the small white part in front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 258, "id": "a7cd08c9-7f7e-4303-a245-7034a995cf13"}, {"label": "valid", "start_step": 0, "end_step": 3857, "id": "rhOXMQiDKzoijQhArYjsS"}, {"label": "subtasks", "start_step": 180, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small white part in front of the wooden rack."}, {"label": "goal", "start_step": 259, "end_step": 408, "id": "f5eeca2c-166d-41c3-8f81-13a1f0ef18b3"}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the workspace and moves it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 409, "end_step": 570, "id": "7ffcbd6a-a5c9-4e87-834a-f03e3462f6d4"}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "goal", "start_step": 571, "end_step": 723, "id": "3fbce14a-b13c-40aa-b23c-f69ffb10b517"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to above the purple peg on the base."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg on the base, adjusting to make it fit properly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 724, "end_step": 849, "id": "6f9259cc-71cc-407a-b4f1-e379f75b165c"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 877, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 850, "end_step": 1071, "id": "40b373c5-f4ee-45a8-98af-c04f8e245d98"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylinder in front of the wooden peg base."}, {"label": "goal", "start_step": 1072, "end_step": 1170, "id": "c94b6d8d-51d6-433b-b635-326ae4467dd2"}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small white cylinder in front of the wooden peg base."}, {"label": "goal", "start_step": 1171, "end_step": 1371, "id": "85c90fbd-bc76-462a-81f9-1065b0bb5b36"}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to secure it in place on the peg stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1372, "end_step": 1563, "id": "e20c66fc-4d4f-4452-baf8-5aa2095cc314"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1581, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green square block on the table."}, {"label": "goal", "start_step": 1564, "end_step": 1782, "id": "c6b0e9a8-d564-40b9-bec7-f8b4bfe12624"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1783, "end_step": 2535, "id": "6b62ba75-aece-4c32-a756-f3d3bcabf00e"}, {"label": "subtasks", "start_step": 1845, "end_step": 1987, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported by the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards another white hexagonal block on the table near the wooden base after the previous block falls off the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2354, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish a stable hold."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2534, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block slowly towards the wooden block base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "goal", "start_step": 2536, "end_step": 2972, "id": "f4d02a1f-0ca8-4e44-b4e8-e08e199e57d8"}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden peg rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2871, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple peg to secure it."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block."}, {"label": "subtasks", "start_step": 2895, "end_step": 2969, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upwards away from the wooden peg rack."}, {"label": "subtasks", "start_step": 2970, "end_step": 3029, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table next to the wooden base."}, {"label": "goal", "start_step": 2973, "end_step": 3095, "id": "3c8ac7b6-8df7-46a7-bed5-12a8bc17a822"}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grip."}, {"label": "goal", "start_step": 3096, "end_step": 3221, "id": "76ab72d6-fe2c-4046-b926-8ab1b7e8d440"}, {"label": "subtasks", "start_step": 3112, "end_step": 3134, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "goal", "start_step": 3222, "end_step": 3332, "id": "beaa6cb3-1f82-4951-847b-c130ba4b1451"}, {"label": "subtasks", "start_step": 3225, "end_step": 3231, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3277, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3333, "end_step": 3488, "id": "3273cc01-d136-4356-b5cc-f833bfdb5667"}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table and transports it above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 3390, "end_step": 3479, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cubic block with the empty slot on the wooden rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 3480, "end_step": 3494, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cubic block that is fixed on the wooden block rack."}, {"label": "goal", "start_step": 3489, "end_step": 3683, "id": "db17691e-741f-437f-bd4b-66901820108e"}, {"label": "subtasks", "start_step": 3495, "end_step": 3539, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 3540, "end_step": 3607, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grip on the green cube on the black table."}, {"label": "subtasks", "start_step": 3608, "end_step": 3674, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 3675, "end_step": 3711, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 3684, "end_step": 3827, "id": "056628c6-5dec-4816-a9ed-28829bac85b7"}, {"label": "subtasks", "start_step": 3712, "end_step": 3741, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}, {"label": "subtasks", "start_step": 3742, "end_step": 3824, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the white bottle with purple tip on the rack."}, {"label": "subtasks", "start_step": 3825, "end_step": 3839, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is fitted onto the bottle."}, {"label": "home", "start_step": 3858, "end_step": 3888, "id": "rzAVC-JbiBCXukA54LObp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 179, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the small white part in front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 180, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small white part in front of the wooden rack."}, {"label": "subtasks", "start_step": 278, "end_step": 314, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the workspace and moves it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 591, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to above the purple peg on the base."}, {"label": "subtasks", "start_step": 615, "end_step": 719, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg on the base, adjusting to make it fit properly."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 877, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}, {"label": "subtasks", "start_step": 1058, "end_step": 1064, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylinder in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small white cylinder in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1311, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1364, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to secure it in place on the peg stack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1581, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green square block on the table."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1658, "end_step": 1769, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1845, "end_step": 1987, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported by the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards another white hexagonal block on the table near the wooden base after the previous block falls off the peg."}, {"label": "subtasks", "start_step": 2235, "end_step": 2354, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish a stable hold."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2534, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block slowly towards the wooden block base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden peg rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2669, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2670, "end_step": 2871, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple peg to secure it."}, {"label": "subtasks", "start_step": 2872, "end_step": 2894, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block."}, {"label": "subtasks", "start_step": 2895, "end_step": 2969, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upwards away from the wooden peg rack."}, {"label": "subtasks", "start_step": 2970, "end_step": 3029, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grip."}, {"label": "subtasks", "start_step": 3112, "end_step": 3134, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 3135, "end_step": 3164, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3165, "end_step": 3209, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 3225, "end_step": 3231, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3232, "end_step": 3277, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table and transports it above the empty slot of the wooden block rack."}, {"label": "subtasks", "start_step": 3390, "end_step": 3479, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cubic block with the empty slot on the wooden rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 3480, "end_step": 3494, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cubic block that is fixed on the wooden block rack."}, {"label": "subtasks", "start_step": 3495, "end_step": 3539, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black table surface."}, {"label": "subtasks", "start_step": 3540, "end_step": 3607, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grip on the green cube on the black table."}, {"label": "subtasks", "start_step": 3608, "end_step": 3674, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}, {"label": "subtasks", "start_step": 3675, "end_step": 3711, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 3712, "end_step": 3741, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}, {"label": "subtasks", "start_step": 3742, "end_step": 3824, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the white bottle with purple tip on the rack."}, {"label": "subtasks", "start_step": 3825, "end_step": 3839, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is fitted onto the bottle."}], "episode_index": 22}
+{"source_uid": "4250c09c368d63f6", "num_frames": 3082, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves leftward and downward toward the small white part next to the green hexagonal block near the wooden assembly."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "523ee3fa-46bb-4a16-9e32-0ef0eb767759"}, {"label": "valid", "start_step": 0, "end_step": 3051, "id": "NyvmaM9nmxGCz4sllI_kr"}, {"label": "subtasks", "start_step": 98, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the small white part on the table, making continuous slight adjustments to fingers and wrist to stabilize the grip."}, {"label": "goal", "start_step": 211, "end_step": 366, "id": "f752f926-c788-4692-856d-645d20adaa0a"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand lowers the green hexagonal block to align and fit it onto the leftmost purple peg, establishing the mated assembly relationship between the block and the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block mated on the purple peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the table surface behind the wooden pegboard and releases the block."}, {"label": "goal", "start_step": 367, "end_step": 537, "id": "e19b47b2-7e28-4a73-aa58-aac1b859fbfe"}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the front-left white hexagonal block on the table, approaching the target without establishing a grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal block, fingers close and make continuous small adjustments to form a stable grasp on the block."}, {"label": "goal", "start_step": 538, "end_step": 735, "id": "c9ec018f-6f00-47ab-9fe7-9ea23d60aacb"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves upward while gripping the white hexagonal nut, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves upward while holding the lifted white hexagonal nut, transporting the nut to the area directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, making small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the left white hexagonal block on the dark gray table surface, with fingers open and extended, not yet touching the block."}, {"label": "goal", "start_step": 736, "end_step": 969, "id": "68a3947a-f5d9-4db7-895a-bd112fdeb146"}, {"label": "subtasks", "start_step": 780, "end_step": 921, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left white hexagonal block on the table, fingers close around the block and make small positional adjustments of the fingers and wrist to establish a firm grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the left white hexagonal block steadily on the dark gray table surface, with no observable movement of the hand, fingers, wrist or the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the black table surface, adjusting finger positions to form a stable grip."}, {"label": "goal", "start_step": 970, "end_step": 1128, "id": "f17830a4-1c6d-43fd-a1fc-9703047e77a1"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple rod, moving the nut downward to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand grips the white hexagonal block on the wooden base and moves upward to lift it completely free of the base's supporting pegs."}, {"label": "goal", "start_step": 1129, "end_step": 1242, "id": "62982b40-6c35-4da5-9591-6d969b8412ca"}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport_place: Right hand carries the lifted white hexagonal block downward toward the dark table surface, adjusting its position until the block rests stably on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the table adjacent to the wooden peg board."}, {"label": "goal", "start_step": 1243, "end_step": 1476, "id": "894b6807-4c28-4661-9319-081c09d3cfbe"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the target purple peg, lowering the block to seat onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple wooden peg on the wooden base, releasing the block as it settles stably on the stacked block below."}, {"label": "goal", "start_step": 1477, "end_step": 1587, "id": "96fdd220-519e-4301-b8df-e164879bbe75"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing digits to form a grip on the block."}, {"label": "goal", "start_step": 1588, "end_step": 1725, "id": "74e3b3ea-5a9f-4380-8ee9-92095e1acb1b"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the wooden peg base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden base peg without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the dark table surface, staying empty with no contact to the nut."}, {"label": "goal", "start_step": 1726, "end_step": 1836, "id": "3f125b97-f51e-4a18-b3e0-1f8230faaf1c"}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to form a stable grasp."}, {"label": "goal", "start_step": 1837, "end_step": 2004, "id": "fbc0ea25-76c6-4ae1-94f6-802ab49fe015"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark work surface and moves it upward to the position above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden assembly and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 2005, "end_step": 2109, "id": "7bbe0da9-3be3-4355-a607-e0f0d60bf954"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty toward the white hexagonal block resting on the right section of the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to establish a stable grip."}, {"label": "goal", "start_step": 2110, "end_step": 2265, "id": "ccc01fa0-17a0-41fd-8012-c5808fd60551"}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the nearby wooden block rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to seat it securely on the rod, and opens its fingers to release the fully assembled block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal object placed on the dark table surface."}, {"label": "goal", "start_step": 2266, "end_step": 2358, "id": "ebb7321e-402f-431e-bb4c-dcdfdb02a1cd"}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making slight grip adjustments to hold the object."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 2359, "end_step": 2742, "id": "1644a6a9-d3c5-4f37-b7e5-d12a67948415"}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and backward to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the stacked block assembly and lowers it to fit into the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2729, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the stacked block assembly without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand releases the light purple cylindrical object seated in the wooden peg base, fingers open and move away until fully separated from the cylinder."}, {"label": "goal", "start_step": 2743, "end_step": 2867, "id": "c78cb09c-9f33-4998-b985-510fe834666c"}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards toward the green hollow block on the dark table surface, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand fingers adjust around the green hollow block, closing and repositioning slightly to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "goal", "start_step": 2868, "end_step": 3020, "id": "86727614-f396-483d-82eb-cc2016f8594a"}, {"label": "subtasks", "start_step": 2888, "end_step": 2931, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to a position directly above the purple cylindrical peg on the wooden block base."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple cylindrical peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3029, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block surface."}, {"label": "home", "start_step": 3052, "end_step": 3081, "id": "dbK2VRgt2uziLlW_NarTR"}], "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 without any visible movement. | Right hand: reach: Right hand, empty, moves leftward and downward toward the small white part next to the green hexagonal block near the wooden assembly."}, {"label": "subtasks", "start_step": 98, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the small white part on the table, making continuous slight adjustments to fingers and wrist to stabilize the grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand lowers the green hexagonal block to align and fit it onto the leftmost purple peg, establishing the mated assembly relationship between the block and the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block mated on the purple peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the table surface behind the wooden pegboard and releases the block."}, {"label": "subtasks", "start_step": 398, "end_step": 427, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the front-left white hexagonal block on the table, approaching the target without establishing a grasp."}, {"label": "subtasks", "start_step": 428, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal block, fingers close and make continuous small adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves upward while gripping the white hexagonal nut, lifting the nut completely off the black table surface."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves upward while holding the lifted white hexagonal nut, transporting the nut to the area directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, making small positional adjustments to fit the nut onto the post."}, {"label": "subtasks", "start_step": 735, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the left white hexagonal block on the dark gray table surface, with fingers open and extended, not yet touching the block."}, {"label": "subtasks", "start_step": 780, "end_step": 921, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left white hexagonal block on the table, fingers close around the block and make small positional adjustments of the fingers and wrist to establish a firm grip, while the block stays on the table surface."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the left white hexagonal block steadily on the dark gray table surface, with no observable movement of the hand, fingers, wrist or the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the black table surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple rod, moving the nut downward to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand grips the white hexagonal block on the wooden base and moves upward to lift it completely free of the base's supporting pegs."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport_place: Right hand carries the lifted white hexagonal block downward toward the dark table surface, adjusting its position until the block rests stably on the table."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the table adjacent to the wooden peg board."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the target purple peg, lowering the block to seat onto the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple wooden peg on the wooden base, releasing the block as it settles stably on the stacked block below."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing digits to form a grip on the block."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the wooden peg base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden base peg without any observable movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the dark table surface, staying empty with no contact to the nut."}, {"label": "subtasks", "start_step": 1770, "end_step": 1851, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to form a stable grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark work surface and moves it upward to the position above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1875, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden assembly and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty toward the white hexagonal block resting on the right section of the black table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2167, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the nearby wooden block rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to seat it securely on the rod, and opens its fingers to release the fully assembled block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal object placed on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making slight grip adjustments to hold the object."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and backward to the position above the stacked block assembly."}, {"label": "subtasks", "start_step": 2408, "end_step": 2451, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the stacked block assembly and lowers it to fit into the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2729, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the stacked block assembly without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2730, "end_step": 2751, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand releases the light purple cylindrical object seated in the wooden peg base, fingers open and move away until fully separated from the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2781, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards toward the green hollow block on the dark table surface, making no contact with the block during this movement."}, {"label": "subtasks", "start_step": 2782, "end_step": 2887, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand fingers adjust around the green hollow block, closing and repositioning slightly to form a stable grip, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 2888, "end_step": 2931, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to a position directly above the purple cylindrical peg on the wooden block base."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple cylindrical peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 3015, "end_step": 3029, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block surface."}], "episode_index": 23}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c2afc7287e13608fd0fc635e9368382df2914ce
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,24 @@
+{"episode_index": 0, "tasks": ["Task: TicTacToe"], "length": 3626}
+{"episode_index": 1, "tasks": ["Task: TicTacToe"], "length": 3516}
+{"episode_index": 2, "tasks": ["Task: TicTacToe"], "length": 3733}
+{"episode_index": 3, "tasks": ["Task: TicTacToe"], "length": 3267}
+{"episode_index": 4, "tasks": ["Task: TicTacToe"], "length": 4278}
+{"episode_index": 5, "tasks": ["Task: TicTacToe"], "length": 4378}
+{"episode_index": 6, "tasks": ["Task: TicTacToe"], "length": 2764}
+{"episode_index": 7, "tasks": ["Task: TicTacToe"], "length": 3403}
+{"episode_index": 8, "tasks": ["Task: TicTacToe"], "length": 3509}
+{"episode_index": 9, "tasks": ["Task: TicTacToe"], "length": 4315}
+{"episode_index": 10, "tasks": ["Task: TicTacToe"], "length": 5098}
+{"episode_index": 11, "tasks": ["Task: TicTacToe"], "length": 3163}
+{"episode_index": 12, "tasks": ["Task: TicTacToe"], "length": 2862}
+{"episode_index": 13, "tasks": ["Task: TicTacToe"], "length": 2956}
+{"episode_index": 14, "tasks": ["Task: TicTacToe"], "length": 2927}
+{"episode_index": 15, "tasks": ["Task: TicTacToe"], "length": 4716}
+{"episode_index": 16, "tasks": ["Task: TicTacToe"], "length": 3224}
+{"episode_index": 17, "tasks": ["Task: TicTacToe"], "length": 3890}
+{"episode_index": 18, "tasks": ["Task: TicTacToe"], "length": 4033}
+{"episode_index": 19, "tasks": ["Task: TicTacToe"], "length": 3493}
+{"episode_index": 20, "tasks": ["Task: TicTacToe"], "length": 3801}
+{"episode_index": 21, "tasks": ["Task: TicTacToe"], "length": 2949}
+{"episode_index": 22, "tasks": ["Task: TicTacToe"], "length": 3889}
+{"episode_index": 23, "tasks": ["Task: TicTacToe"], "length": 3082}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..772e4d364ee22bf290377bf2c1b13965eea046c9
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,24 @@
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c6268162f61a7a458606b045a067e368ffc895
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "fps": 30,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                "left_hand_j14",
+                "left_hand_j15",
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+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
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+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
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+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74a2626879178c986cdbde99eebb85bace83896f
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_15_09_59_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,1460 @@
+{"subtask_index": 0, "subtask": "Left hand: return_home: Left hand moves upward to the left resting position with fingers slightly extended. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves upward then left toward the green hexagonal block near the wooden assembly base on the table, rotating the wrist clockwise about 90 degrees to point fingers downward, with fingers slightly spread."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby green hexagonal block, adjusting finger contact points to form a stable grip on the block."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block fully separates from the table surface."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted green block horizontally toward the purple peg mounted on the wooden base."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, slides the block down along the peg, and makes small adjustments to position the block on the assembly."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand positions the white cylindrical block onto the leftmost purple rod of the wooden rack until the block is stably supported, with fingers opening to release contact with the block."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden rack toward the front-left white hexagonal block on the dark table surface, with fingers open, approaching the target without contact."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block on the table, closes fingers around the block, and adjusts finger and wrist positions to establish a stable grip."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the front-left white hexagonal block steadily on the dark table surface without observable movement of the hand, fingers, or the block."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block resting on the dark table surface, securing a stable grip."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the table surface."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden peg board, positioning it above the target purple peg."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg, lowers the block to fit it onto the peg above the existing green block."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement or grip adjustment."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds the green block with white top, aligns it with the purple peg on the wooden assembly base and fits it onto the peg."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward from the assembly base towards the left white hexagonal block on the black table surface."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left white hexagonal block on the table, with slight finger movements to adjust contact points for grasping."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical component off the table surface and transports it upward to the position above the purple rod on the wooden assembly base."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the grasped white cylindrical component with the purple rod on the wooden base and lowers it to fit onto the rod, adjusting position slightly to complete the assembly."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the assembled white cylindrical component on the purple rod without any observable movement of the hand or the component."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand holds white cylindrical caps, aligns and fits them onto the tops of the vertical purple posts on the wooden base to complete assembly."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward empty from above the wooden base toward the white hexagonal nut placed on the table surface in front of the base."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact to form a stable grip on the object."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily without observable movement of the hand, fingers or the nut."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical object resting on the dark table surface near the wooden block assembly."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the dark table surface, moves it upward toward the purple vertical rod on the wooden block assembly."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple vertical rod on the wooden assembly, lowers the object to fit it onto the rod, makes small positional adjustments to seat it properly."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object seated on the purple vertical rod of the wooden assembly without moving."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to seat it on the purple peg of the wooden base."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens fingers to release the seated white cylindrical block on the wooden base."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base toward the green hexagonal block on the dark table surface."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without observable movement."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green block resting on the table."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block upward until it is fully separated from the table surface."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand moves the lifted green block upward and toward the purple rod on the wooden assembly base."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and slides the block onto the rod."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block on the purple rod without any visible movement of the hand or the block."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green block, allowing the block to slide down the purple rod."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block to the purple peg on the wooden assembly board to complete the mating connection."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the mated green block, moves empty downwards toward the front white hexagonal block on the dark table surface without establishing contact with the block."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closes fingers around the block and adjusts wrist and finger positions to form a stable grip."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the dark table surface, closing fingers to establish a stable grasp on the block."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves the block upward toward the wooden block assembly, positioning it above the purple vertical rod."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block slightly to fit it onto the rod to form the mated assembly."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the mated white hexagonal block on the purple vertical rod of the wooden assembly with no observable movement of the hand or block."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple rod on the wooden base, fingers opening to release the block."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the table to the right of the wooden base."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact to form a stable grasp."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block above the table surface with no observable movement of the hand or block."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions slightly to establish a stable grasp on the white hexagonal block resting on the table adjacent to the wooden block rack."}
+{"subtask_index": 52, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the supporting table and wooden rack edge."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to position it directly above the purple vertical rod mounted on the wooden rack."}
+{"subtask_index": 54, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit the block onto the rod, making small positional adjustments to seat the block properly."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, breaking contact between the hand and the block."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: retreat: Right hand moves upward away from the assembled block on the purple rod, retreating from the immediate operation position."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the area above the wooden block rack toward the small white hexagonal block on the table, staying empty as it approaches until it is positioned just above the target block without contact."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, fingers performing visible adjusting movements and closing around the block to establish a stable grip."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white object off the table surface and transports it upward toward the stacked blocks on the wooden tray."}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the small white object with the purple vertical rod on the block stack and fits the object onto the rod to establish the assembly connection."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to release the assembled white object, separating the hand from the object."}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: reach: Right hand moves down and right toward the green square block on the dark table surface, with fingers held slightly open."}
+{"subtask_index": 63, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, adjusting finger contact positions to establish a grip on the block."}
+{"subtask_index": 64, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward from the dark table surface."}
+{"subtask_index": 65, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: transport: Right hand transports the lifted green block upward and leftward toward the target white cylindrical peg on the wooden block rack."}
+{"subtask_index": 66, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the target white cylindrical peg and fits the block onto the peg."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: hold: Right hand holds the green block stably on the white cylindrical peg without visible movement or adjustment."}
+{"subtask_index": 68, "subtask": "Left hand: idle: Left hand remains empty at the left resting position without any observable movement. | Right hand: release: Right hand opens its fingers to begin releasing the green block placed on the white cylindrical peg."}
+{"subtask_index": 69, "subtask": "Task: TicTacToe"}
+{"subtask_index": 70, "subtask": "Left hand: other:raise_hand: Left hand raises upward from the left lower position to the left upper position. | Right hand: other:raise_hand: Right hand raises upward from the right lower position to the right upper position."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: idle: Right hand remains empty at the right upper position without moving."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block on the left side of the table."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 74, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost vertical peg of the pegboard."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost peg and fits it down onto the peg."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost peg without moving."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block upward along the leftmost peg."}
+{"subtask_index": 78, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cubic block downward along the leftmost peg."}
+{"subtask_index": 79, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cubic block on the lower part of the leftmost peg without moving."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden pegboard and releases the block."}
+{"subtask_index": 81, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface with fingers closing and adjusting around it."}
+{"subtask_index": 83, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until the block is completely off the support."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and backward toward the peg board, stopping above the target purple peg."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, aligning the block's hole with the peg and lowering the block onto the peg to form the assembly."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the leftmost purple rod of the wooden base."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface with fingers closing."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table surface without moving."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and backward to the position above the rightmost purple rod of the block rack."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and fits it onto the rod to complete the assembly."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward from the upper wooden rack area toward the white hexagonal block with a hole on the table, approaching the target block."}
+{"subtask_index": 95, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block to establish a stable grasp."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white perforated block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white perforated block upward from the table surface until it is fully off the support."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white perforated block upward and toward the purple peg on the wooden board, stopping above the peg."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple peg below and moves it downward to fit onto the peg."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press: Right hand presses the white perforated block downward along the purple peg to compact its position."}
+{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand releases the white perforated block by opening fingers and separating from the block."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the green block on the table below the wooden base."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the green cube upward until it completely leaves the table surface."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the green cube upward and rightward to the position above the target peg on the wooden base."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the green cube with the target peg by aligning the cube's hole and moving downward to fit the cube onto the peg."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the green cube fitted on the peg without moving."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple vertical peg on the wooden base and releases its grip on the block."}
+{"subtask_index": 111, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the dark table surface, moving downward from the upper working area."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting position to form a stable grip."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and moves it upward to the position above the rack's peg."}
+{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white cubic block with the rack's vertical peg and lowers it to fit onto the peg."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release: Right hand gradually releases its grip on the white cubic block mounted on the peg."}
+{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden rack."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the table surface until it is fully off the support."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack, moving it to the position above the purple rod."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves it downward to fit the block onto the rod, completing the assembly."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the purple rod by opening fingers, then retreats slightly away from the rod."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal object on the table, without touching the object."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it upward and backward toward the rack with white cylinders."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand mates the white hexagonal object with the target position on the rack, adjusting to align and fit it."}
+{"subtask_index": 128, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: press_release: Right hand presses the purple rod down into the front-right bottle on the wooden base and releases its grip on the rod."}
+{"subtask_index": 129, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: reach: Right hand moves down-left towards the green cube on the workbench while keeping empty."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: grasp: Right hand grasps the green cube on the workbench, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: lift_transport: Right hand lifts and transports the green cube from the table upward and leftward to the top of the rightmost white bottle with a purple tip on the wooden rack."}
+{"subtask_index": 132, "subtask": "Left hand: idle: Left hand remains empty at the left upper position without moving. | Right hand: mate: Right hand aligns the green cube with the top of the white bottle and presses it down to mate the cube onto the bottle."}
+{"subtask_index": 133, "subtask": "Left hand: other:move_upward: Left hand moves upward with empty palm. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves forward toward the white block on the leftmost purple pillar of the wooden base with empty palm."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and grasps the white block on the leftmost purple pillar, with fingers adjusting to form a stable grip."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the purple peg on the wooden base."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 138, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to fix its position."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers separating from the block."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple pole of the wooden base."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts the block onto the rod."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple rod to the bottom position."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 148, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 149, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 150, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the desktop and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 151, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden rack, adjusting to fully fit it onto the rod."}
+{"subtask_index": 152, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hollow cylinder on the black tabletop."}
+{"subtask_index": 153, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hollow cylinder on the black tabletop, with slight grip adjustment."}
+{"subtask_index": 154, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple post on the wooden base."}
+{"subtask_index": 155, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple post on the wooden base, pushing it down to fit."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple post without moving."}
+{"subtask_index": 157, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 158, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}
+{"subtask_index": 159, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the green hexagonal block on the table surface."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 161, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the green cubic block with the purple peg by aligning the block hole and inserting it onto the peg."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic block that has been fitted on the purple peg, with fingers opening to separate from the block."}
+{"subtask_index": 163, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block assembly towards the green square block on the table."}
+{"subtask_index": 164, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}
+{"subtask_index": 165, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod on the wooden base and inserts it down onto the rod to complete the assembly."}
+{"subtask_index": 167, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 168, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closing fingers to adjust and form a stable grip."}
+{"subtask_index": 169, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple peg on the wooden rack."}
+{"subtask_index": 170, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg to complete the assembly."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand inserts the purple cylindrical object into the top of the white bottle on the wooden rack."}
+{"subtask_index": 173, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the table."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand touches the white hexagonal object and adjusts fingers to form a stable grasp."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}
+{"subtask_index": 176, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the white block towards the upper wooden rack."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white block onto the empty peg of the wooden rack."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves empty towards the green cubic block placed on the table."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green cubic block on the table."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the green cubic object off the table and transports it to the position above the target white bottle on the wooden tray."}
+{"subtask_index": 181, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the hole of the green cubic object with the protruding part of the white bottle, and makes repeated adjustments to insert the cube onto the bottle to complete the assembly."}
+{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green cubic object after it is properly fitted onto the white bottle."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty from the right initial position toward the green hexagonal block located to the left of the wooden peg base."}
+{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers and makes small positional adjustments to establish a stable grip on the target green hexagonal block on the table."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the grasped green hexagonal block steadily with no visible hand movement, finger adjustment or object displacement."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward off the dark table surface."}
+{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple peg on the wooden assembly base."}
+{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit the block onto the peg."}
+{"subtask_index": 189, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement."}
+{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block on the purple peg."}
+{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand moves the white hexagonal block downward to place it onto the corresponding wooden peg on the assembly board, until the block is stably supported by the peg."}
+{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward away from the assembly board, approaching the white hexagonal block placed on the front table surface with empty hand."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers close and make small adjustments to form a stable grasp on the block, with the block remaining on the table surface."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward to the position directly above the vertical rod on the wooden assembly rack."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reorient: Right hand slightly rotates the grasped white hexagonal block to align its central hole with the vertical rod below, with minimal position change."}
+{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the aligned white hexagonal block stationary above the vertical rod without observable movement of the hand, wrist or block."}
+{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand moves the white hexagonal block downward along the vertical rod to nest it onto the green block fixed on the rod, completing the fitting action."}
+{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place_release: Right hand lowers the white hexagonal block to rest on the green block of the left wooden peg, fingers opening to release contact with the block."}
+{"subtask_index": 199, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward with open fingers, approaching the white hexagonal block located on the front section of the table surface."}
+{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand contacts the front white hexagonal block, gradually closing fingers and adjusting wrist and finger positions to form a secure grasp on the block."}
+{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, moves the block upward and toward the purple rod on the wooden block rack."}
+{"subtask_index": 202, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod on the wooden rack, fits the block onto the rod to complete the assembly."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without observable movement of the hand or block."}
+{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and slightly left from its initial position above the stacked blocks on the wooden base, approaching the small white cylindrical object in front of the base with fingers open."}
+{"subtask_index": 205, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the small white cylindrical object in front of the wooden base, making small positional adjustments to form a stable grip."}
+{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: hold: Right hand holds the small white cylindrical object in front of the wooden base steadily, with no visible movement of the hand or the object."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white cylindrical block placed near the wooden base."}
+{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to separate it from the supporting surface."}
+{"subtask_index": 209, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand moves the grasped white cylindrical block horizontally to position it directly above the target purple vertical rod."}
+{"subtask_index": 210, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical block with the purple vertical rod, then lowers the block to fit it onto the rod to complete assembly, with small adjustments of wrist and fingers to maintain alignment."}
+{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white cylindrical block, gradually separating from the block surface."}
+{"subtask_index": 212, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the region adjacent to the wooden block assembly toward the green hexagonal block with an upright white peg resting on the dark table surface, staying empty as it approaches the target block."}
+{"subtask_index": 213, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block with an upright white peg, making small finger adjustments to form a stable grip while the block remains on the table surface."}
+{"subtask_index": 214, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and transports it upward toward the purple vertical rod mounted on the wooden base."}
+{"subtask_index": 215, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit securely onto the rod."}
+{"subtask_index": 216, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple vertical rod."}
+{"subtask_index": 217, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the white hexagonal objects on the black table surface, staying empty before contacting the target object."}
+{"subtask_index": 218, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut near the green block on the table, adjusting finger and wrist positions to form a stable grip on the nut."}
+{"subtask_index": 219, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp_lift: Right hand adjusts its grip on the white hexagonal nut resting on the black table surface and lifts the nut upward until the nut is fully separated from the table."}
+{"subtask_index": 220, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal nut upward and toward the purple rod on the wooden assembly base, moving the nut to a position directly above the rod."}
+{"subtask_index": 221, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, adjusts the nut's position and orientation, and fits the nut down onto the rod to nest with the existing parts on the wooden base."}
+{"subtask_index": 222, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens fingers to release the white-capped bottle placed on the wooden tray, separating from the bottle surface."}
+{"subtask_index": 223, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block positioned near the front-right of the wooden tray."}
+{"subtask_index": 224, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to form a grip while the block remains resting on the table surface."}
+{"subtask_index": 225, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is completely off the table."}
+{"subtask_index": 226, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand carries the white hexagonal block to move upward and leftward to the position directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 227, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal block with the purple rod, lowers the block to fit around the rod and makes slight adjustments until the block is stably seated on the wooden base."}
+{"subtask_index": 228, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, separating the hand from the block."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves downward and toward the white hexagonal object placed on the dark table surface, approaching the object without making contact."}
+{"subtask_index": 230, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand closes its fingers around the white hexagonal object on the table, making small grip adjustments while the object remains resting on the table surface."}
+{"subtask_index": 231, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift_transport: Right hand lifts the white annular object off the table surface, moving the object upward toward the purple rod on the wooden tray."}
+{"subtask_index": 232, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: mate: Right hand aligns the white annular object with the purple rod, lowering the object to fit onto the rod with small positional adjustments."}
+{"subtask_index": 233, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: reach: Right hand moves from the area above the wooden bottle tray down towards the green holed block on the right side of the table, with fingers slightly extended."}
+{"subtask_index": 234, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the table to establish a grasp, with fingers moving slightly to make contact with the block surface."}
+{"subtask_index": 235, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: lift: Right hand lifts the green cubic block upward from the dark table surface while maintaining a firm grip on the block."}
+{"subtask_index": 236, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden rack holding stacked white cylinders at the top-right of the workspace."}
+{"subtask_index": 237, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: place: Right hand lowers the green cubic block downward to place it onto the top of the white cylinder with a purple cap on the rack."}
+{"subtask_index": 238, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: release: Right hand opens its fingers to release the green cubic block, separating the hand from the block resting on the cylinder."}
+{"subtask_index": 239, "subtask": "Left hand: idle: Left hand remains empty on the left side of the workspace without any visible movement or contact with operated objects. | Right hand: retreat: Right hand retreats away from the rack area with an empty hand after completing the placement."}
+{"subtask_index": 240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green block on the table to the left of the wooden rack, keeping empty and not touching any object."}
+{"subtask_index": 241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table and makes slight adjustments to stabilize the grip."}
+{"subtask_index": 242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}
+{"subtask_index": 243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward from the table surface until it is fully in the air."}
+{"subtask_index": 245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the middle purple peg."}
+{"subtask_index": 246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle purple peg and moves it downward to fit the block onto the peg."}
+{"subtask_index": 247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}
+{"subtask_index": 248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green square block onto the bottom wooden board of the left purple vertical rod and releases the block."}
+{"subtask_index": 249, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and forward from the pegboard area to approach the white hexagonal block on the table."}
+{"subtask_index": 250, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}
+{"subtask_index": 251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 252, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it rightward and upward to the area above the purple pegs on the wooden board."}
+{"subtask_index": 254, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a purple peg and moves it downward to fit the block onto the peg."}
+{"subtask_index": 255, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the white hexagonal block while empty."}
+{"subtask_index": 257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}
+{"subtask_index": 258, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table surface."}
+{"subtask_index": 259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}
+{"subtask_index": 260, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple peg on the wooden rack."}
+{"subtask_index": 261, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the central hole with the peg and lowering the block downwards."}
+{"subtask_index": 262, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}
+{"subtask_index": 264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical block on the table in front of the wooden base."}
+{"subtask_index": 265, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 266, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table and transports it upward and rightward to the top of the purple vertical rod."}
+{"subtask_index": 267, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical object with the purple vertical rod and lowers it to fit onto the rod to complete assembly."}
+{"subtask_index": 268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical object fitted on the purple rod, with fingers opening and separating from the object."}
+{"subtask_index": 269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table with empty hand."}
+{"subtask_index": 270, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers close around the block to form a stable grip."}
+{"subtask_index": 271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 272, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface."}
+{"subtask_index": 273, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block towards the purple rod on the wooden base."}
+{"subtask_index": 274, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and fits it onto the rod."}
+{"subtask_index": 275, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod."}
+{"subtask_index": 276, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the purple rod without moving."}
+{"subtask_index": 277, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the middle peg of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 278, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the green block."}
+{"subtask_index": 279, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting around the block."}
+{"subtask_index": 280, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the black table and transports it upward and leftward toward the wooden peg rack."}
+{"subtask_index": 281, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the target peg on the wooden rack, lowering the cylinder to fit onto the peg."}
+{"subtask_index": 282, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the wooden rack peg without moving."}
+{"subtask_index": 283, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the table to approach the white cylindrical object below the stacked blocks."}
+{"subtask_index": 284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white cylindrical object on the table and closes its fingers to grasp the object."}
+{"subtask_index": 285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward until it is completely off the table surface."}
+{"subtask_index": 286, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward and leftward to the position above the purple vertical rod on the wooden base."}
+{"subtask_index": 287, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and moves it downward to fit the block onto the rod."}
+{"subtask_index": 288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening and separating from the block."}
+{"subtask_index": 289, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the stacked blocks on the wooden base toward the white hollow block on the black table."}
+{"subtask_index": 290, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a grasp on the white hollow block on the table surface."}
+{"subtask_index": 291, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder up from the table and transports it left-upward toward the purple rod on the middle wooden tray."}
+{"subtask_index": 292, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod."}
+{"subtask_index": 293, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder downward along the purple rod to secure it in place."}
+{"subtask_index": 294, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder steadily on the purple rod without moving."}
+{"subtask_index": 295, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating from the cylinder."}
+{"subtask_index": 296, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the purple rod after releasing the cylinder."}
+{"subtask_index": 297, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward and leftward to the green cubic block on the table, closing its fingers to grasp the block upon contact."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without observable movement."}
+{"subtask_index": 299, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 300, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward from the black table until the block is fully off the supporting surface."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the rightmost vertical rod on the wooden tray."}
+{"subtask_index": 302, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost vertical rod, aligning the central hole with the rod and adjusting the block's vertical position along the rod repeatedly."}
+{"subtask_index": 303, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block by opening its fingers, then retreats upward from the operation position."}
+{"subtask_index": 304, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty at its initial right-side position in the workspace, with no active movement toward the central table objects."}
+{"subtask_index": 305, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves left and downward toward the green hexagonal block resting on the table in front of the wooden block assembly, holding fingers open as it approaches without touching the block."}
+{"subtask_index": 306, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table and closes its fingers around the block to establish a stable grip, with the block remaining on the table surface."}
+{"subtask_index": 307, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block that stays resting on the table, with no observable movement of the hand, fingers, or the block during this period."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers to form a stable grip on the green hexagonal block resting on the dark table surface."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, moves the block upward and toward the wooden pegboard to position it above a purple vertical peg."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg, moves the block downward to slide it onto the peg until the block rests stably on the wooden pegboard surface."}
+{"subtask_index": 311, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating the hand from the block surface."}
+{"subtask_index": 312, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard to approach the white hexagonal block on the dark table surface."}
+{"subtask_index": 313, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes slight finger and wrist adjustments around the white hexagonal block, closing fingers to establish a firm grip on the block."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without any visible movement of the hand or the block."}
+{"subtask_index": 315, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts its fingers and wrist to firmly grasp the white hexagonal nut resting on the dark table surface."}
+{"subtask_index": 316, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple post on the wooden assembly base."}
+{"subtask_index": 317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal nut, aligns its central hole with the purple post, and moves it downward to fit onto the post until it rests on the green block below."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white topped block, aligns and fits it onto the corresponding purple post on the wooden assembly base, opens fingers to release the assembled block."}
+{"subtask_index": 319, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the white hexagonal block on the dark table surface, with fingers slightly open, not yet contacting the block."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts wrist position and finger contact points, and gradually closes fingers to establish a stable grip on the block."}
+{"subtask_index": 321, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden assembly block."}
+{"subtask_index": 322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the two parts."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the wooden peg on the light wooden base, presses it down to fit onto the peg and releases the block."}
+{"subtask_index": 324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block near the wooden base on the table."}
+{"subtask_index": 325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close and adjust position to form a grip on the block."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward to the position above the purple peg on the wooden assembly base."}
+{"subtask_index": 327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit it onto the peg while making small positional adjustments to complete the nesting assembly."}
+{"subtask_index": 328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the green hexagonal block resting on the dark table surface."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small finger adjustments to form a stable grip."}
+{"subtask_index": 330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until it is fully separated from the table."}
+{"subtask_index": 331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and toward the purple rod mounted on the wooden base."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and lowers the block to fit it securely onto the rod."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the upper area near the wooden block assembly, approaching the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close around the block and make slight positional adjustments to establish a firm grasp, with the block remaining on the table surface."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the area above the purple rod on the wooden block stand."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and fits the block onto the rod to establish the assembly connection."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves from the area above the wooden block stand toward the white hexagonal block near the stand on the table, with fingers open, approaching the target block."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting grip to form a stable hold on the block while the block remains on the table."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely lifted off the table surface."}
+{"subtask_index": 340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the purple rod on the wooden stand."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, aligning the block's hole with the purple rod to attempt fitting it onto the rod."}
+{"subtask_index": 342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the white hexagonal block away from the purple rod, moving rightward and downward back toward the table surface."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface until the block is supported by the table, then opens fingers to release grip on the block."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty above the placed white hexagonal block on the table without moving."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger position around the white hexagonal block resting on the dark table surface to form a stable grasp."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is fully separated from the dark table surface."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand moves the lifted white hexagonal block upward and leftward through the air to position it above the vertical purple rod on the wooden block base."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal block with the vertical purple rod, lowers the block to fit it onto the rod, and establishes the assembled connection between the block and rod."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any movement of the hand or block."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper right area toward the white hexagonal block placed on the dark table surface, with fingers slightly spread as it approaches the target."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, adjusts finger closure and wrist angle to secure the grip, making slight rotational and positional adjustments to the block during the grasping process."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand maintains a stable grasp on the white hexagonal block resting on the table, with no observable movement of the hand, fingers, or the block."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, transporting it upward toward the wooden block rack holding stacked white and green blocks."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg on the rack, moving the block downward to fit securely onto the peg."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg, with no visible movement of the hand, fingers, or block."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block, separating fully from the block surface by the end of the segment."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: retreat: Right hand moves backward away from the white hexagonal block positioned on the rack."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reach: Right hand moves downward from the upper-right area near the wooden tray toward the green cube placed on the dark table surface, with fingers held in a slightly open posture."}
+{"subtask_index": 361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube, and adjusts finger positions to form a stable grip while the cube remains resting on the table."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand lifts the securely grasped green cube upward, raising the cube completely off the dark table surface."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green cube upward and leftward, moving the cube to a position directly above the purple-capped bottle on the wooden tray."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green cube steadily above the purple-capped bottle on the wooden tray, with no visible movement of the hand, fingers, or the grasped cube."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green cube away from the area above the purple-capped bottle, moving the cube downward and rightward back toward the dark table surface."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green cube onto the dark table surface until the cube is fully supported by the table, then opens fingers to release the cube and separate from its surface."}
+{"subtask_index": 367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: idle: Right hand remains empty and stationary directly above the placed green cube on the table, with no visible movement of the hand or fingers."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: grasp: Right hand moves fingers downward to make contact with the top of the green cube, closing fingers around the cube to initiate a new grip."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block resting on the black table surface and lifts it upward until the block is fully separated from the table."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block to move upward and leftward toward the area above the wooden block rack."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: reorient: Right hand slightly rotates the green hexagonal block to adjust its posture while keeping roughly the same position above the purple cylindrical object for alignment."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block to move rightward to the position above the rightmost white cylindrical block on the wooden rack."}
+{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block steadily above the rightmost white cylindrical block without any observable movement of the hand or the block."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any active movement toward or contact with objects throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block downward to place it on the top surface of the rightmost white cylindrical block, then opens the fingers to release the block."}
+{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block at the left front of the wooden peg base, with wrist rotating slightly to adjust orientation and fingers keeping slightly open, approaching the target."}
+{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting slightly to establish a stable grip."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost peg of the pegboard."}
+{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost peg and inserts the block onto the peg."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the green hexagonal block down along the leftmost peg until the block is stably supported."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left from the upper wooden rack area, approaching the white hexagonal block on the table."}
+{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, adjusting the grip slightly."}
+{"subtask_index": 383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}
+{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple peg and inserts the block onto the peg."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand slides the white hexagonal block down along the leftmost purple peg until it rests on the green base block."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white holed block onto the leftmost green block's peg and releases the grip."}
+{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}
+{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it upward and rightward toward the pegboard."}
+{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the top of the leftmost purple peg and inserts it downward onto the peg."}
+{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the leftmost purple peg without moving."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses down the white cylindrical block on the rightmost purple peg of the wooden base and releases it quickly."}
+{"subtask_index": 394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards towards the white hexagonal block with a central hole on the table."}
+{"subtask_index": 395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight downward adjustment to stabilize the grip."}
+{"subtask_index": 396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while transporting it toward the purple peg on the wooden board."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden board by aligning and lowering it onto the peg."}
+{"subtask_index": 398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the purple vertical peg on the wooden base and releases the part."}
+{"subtask_index": 399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches downward toward the green hollow square block on the dark table surface and grasps it with fingers adjusting to stabilize the grip."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward and rightward to the top of the target purple peg."}
+{"subtask_index": 402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block with the target purple peg by inserting it downward and releases the block."}
+{"subtask_index": 403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the top of the purple vertical rod, with fingers opening and separating from the ring."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white holed hexagonal object on the table, keeping fingers slightly open."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white holed hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table surface and transports it upward and leftward to the position above the wooden rack."}
+{"subtask_index": 407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the green post on the wooden rack and lowers it to fit onto the post."}
+{"subtask_index": 408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on top of the green block stack at the center-top area of the table."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the center-top block stack."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the upper white hexagonal block on the dark table surface."}
+{"subtask_index": 411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}
+{"subtask_index": 413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the top of the purple rod on the wooden rack."}
+{"subtask_index": 414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it down onto the rod to complete assembly."}
+{"subtask_index": 415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the rightmost white block of the rack downward."}
+{"subtask_index": 416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the black table."}
+{"subtask_index": 417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cubic block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the black table and transports it to the top of the purple rod on the wooden rack."}
+{"subtask_index": 419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cubic block with the purple rod on the wooden rack, adjusting the block to fit onto the rod."}
+{"subtask_index": 420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray downward."}
+{"subtask_index": 421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the right part of the table."}
+{"subtask_index": 422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table surface and transports it toward the wooden rack with white cylindrical bottles."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the rightmost white bottle on the wooden rack and mates it onto the bottle by moving downward until the block is supported."}
+{"subtask_index": 424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening and separating from the block."}
+{"subtask_index": 425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the leftmost white hexagonal block on the wooden base, without contacting the object."}
+{"subtask_index": 426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the wooden base, adjusting grip to form stable contact."}
+{"subtask_index": 427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, moving it away from the supporting wooden base."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green block on the table."}
+{"subtask_index": 429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the purple peg on the wooden base."}
+{"subtask_index": 430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the purple peg."}
+{"subtask_index": 431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it reaches the wooden base."}
+{"subtask_index": 432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block and moves slightly upward."}
+{"subtask_index": 433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the purple pillar on the wooden base and releases the block."}
+{"subtask_index": 434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close and adjust to establish stable grasp on the block."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block away from the black table surface."}
+{"subtask_index": 437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the central hole of the block with the top of the rod."}
+{"subtask_index": 439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to fix it in position."}
+{"subtask_index": 440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden peg board toward the white hexagonal block on the table."}
+{"subtask_index": 442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}
+{"subtask_index": 444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod to complete assembly."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder near the wooden rack on the desktop."}
+{"subtask_index": 446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal cylinder and adjusts fingers to form a stable grasp on it."}
+{"subtask_index": 447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the upper position of the purple vertical rod."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the wooden base."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block rack towards the green cubic block on the black tabletop, not contacting the block yet."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cubic block on the tabletop, fingers adjust to establish a stable grasp on the block."}
+{"subtask_index": 451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the tabletop and transports it to the area above the wooden post rack."}
+{"subtask_index": 452, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the target post on the wooden rack and inserts it onto the post."}
+{"subtask_index": 453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube down along the post to fix it in position."}
+{"subtask_index": 454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube and slightly moves away from the rack."}
+{"subtask_index": 455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table and adjusts fingers to form a stable grasp."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it towards the wooden peg rack."}
+{"subtask_index": 458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple peg on the wooden rack and inserts it onto the peg."}
+{"subtask_index": 459, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hollow cylinder down along the purple peg to adjust its position."}
+{"subtask_index": 460, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the vacant position of the wooden tray."}
+{"subtask_index": 461, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the wooden tray."}
+{"subtask_index": 462, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table near the green square block."}
+{"subtask_index": 463, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, closes fingers to form and adjust the grasp on the block."}
+{"subtask_index": 464, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple rod on the wooden base."}
+{"subtask_index": 465, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the purple rod."}
+{"subtask_index": 466, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by pushing it down along the rod."}
+{"subtask_index": 467, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 468, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal object on the table."}
+{"subtask_index": 469, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal object on the table."}
+{"subtask_index": 470, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the wooden rack with multiple blocks."}
+{"subtask_index": 471, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and fits it onto the rod."}
+{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block down along the purple rod to secure it, then releases the block."}
+{"subtask_index": 473, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple part on the white bottle fixed on the wooden rack."}
+{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the table."}
+{"subtask_index": 475, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}
+{"subtask_index": 476, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it to the position above the target white bottle on the wooden rack."}
+{"subtask_index": 477, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and inserts the block onto the bottle."}
+{"subtask_index": 478, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the bottle to secure it in place."}
+{"subtask_index": 479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious translational movement."}
+{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty leftward toward the green hexagonal nut adjacent to the wooden peg base on the table."}
+{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers and makes small contact adjustments to establish grip on the green hexagonal nut adjacent to the wooden peg base."}
+{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the firmly gripped green block upward until the block is completely separated from the table surface."}
+{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the lifted green block upward toward the purple vertical peg mounted on the wooden assembly base."}
+{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg and fits the block onto the peg."}
+{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green block seated on the purple peg without any observable movement of the hand, fingers or block."}
+{"subtask_index": 486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block resting on the purple peg."}
+{"subtask_index": 487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from above the wooden pegboard toward the front white hexagonal block on the table, with fingers held in a slightly open posture."}
+{"subtask_index": 488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers gradually close and make small positional adjustments to establish a grip on the block."}
+{"subtask_index": 489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward to the position directly above the purple rod on the wooden peg assembly."}
+{"subtask_index": 490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reorient: Right hand slightly rotates the wrist to adjust the orientation of the held white hexagonal nut, keeping its position roughly unchanged above the rod."}
+{"subtask_index": 491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple rod and lowers it slightly to fit the rod into the hole, establishing the mating connection."}
+{"subtask_index": 492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place: Right hand moves the white hexagonal nut downward along the purple rod until the nut rests stably on the green base block beneath the rod, fully supported by the base."}
+{"subtask_index": 493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers gradually to release the seated white hexagonal nut, separating the hand completely from the nut by the end of the segment."}
+{"subtask_index": 494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward from the area near the wooden block assembly toward the loose white hexagonal block on the black table surface, with fingers extended during the approach."}
+{"subtask_index": 495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip, with the block remaining in contact with the table surface."}
+{"subtask_index": 496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the white hexagonal nut upward until the nut is fully separated from the table surface."}
+{"subtask_index": 497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the white hexagonal nut backward to the position directly above a purple peg on the wooden block rack."}
+{"subtask_index": 498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple peg, then slides the nut down the peg until it rests on the lower nut."}
+{"subtask_index": 499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steady on the purple peg without any observable movement of the hand or the nut."}
+{"subtask_index": 500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut that is stably supported by the purple peg."}
+{"subtask_index": 501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: press: Right hand presses vertically downward on the top white hexagonal block on the leftmost purple post of the wooden stand to seat the block fully in place."}
+{"subtask_index": 502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal block resting on the table surface in front of the wooden stand, with fingers held in an open posture."}
+{"subtask_index": 503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grip, while the block remains supported by the table surface."}
+{"subtask_index": 504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table without any visible movement of the hand, fingers or the block."}
+{"subtask_index": 505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions to stabilize grasp on the white hexagonal cylinder resting on the table near the wooden rack."}
+{"subtask_index": 506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward to fully separate it from the table surface."}
+{"subtask_index": 507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder toward the area directly above the purple post on the wooden rack."}
+{"subtask_index": 508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and lowers it to fit snugly onto the post."}
+{"subtask_index": 509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the mated white hexagonal cylinder onto the purple post."}
+{"subtask_index": 510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves away from the assembled post as an empty hand in a retreating motion."}
+{"subtask_index": 511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the dark table surface, fingers held in a slightly spread posture before contacting the block."}
+{"subtask_index": 512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, closing fingers and making small positional adjustments to form a grip on the block which remains resting on the table."}
+{"subtask_index": 513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table, and transports it upward to the position directly above the purple rod on the wooden rack."}
+{"subtask_index": 514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowering the block to fit it onto the rod for assembly."}
+{"subtask_index": 515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}
+{"subtask_index": 516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple peg of the wooden assembly base, separating from the block."}
+{"subtask_index": 517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table surface, approaching the target without contact."}
+{"subtask_index": 518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grasp, with the block remaining on the table surface."}
+{"subtask_index": 519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without moving, with no visible change in hand shape or object position."}
+{"subtask_index": 520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal cylinder resting on the black table surface."}
+{"subtask_index": 521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until it is fully separated from the black table surface."}
+{"subtask_index": 522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal cylinder through the air toward the purple rod on the wooden assembly rack."}
+{"subtask_index": 523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, moves the cylinder downward to fit onto the rod, and adjusts its position during assembly."}
+{"subtask_index": 524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block placed on the table near the wooden block tray, with fingers held slightly open."}
+{"subtask_index": 525, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the tray, adjusting finger contact to establish a grip while the block remains on the table surface."}
+{"subtask_index": 526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, then lifts the block upward until it is completely off the table."}
+{"subtask_index": 527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple vertical rod on the wooden base, moving the block to the position directly above the rod."}
+{"subtask_index": 528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand makes small adjustments to the position and orientation of the white hexagonal block to align its central hole with the purple rod, then lowers the block to fit it onto the rod until it rests stably on the stacked block below."}
+{"subtask_index": 529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact between the hand and the block."}
+{"subtask_index": 530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty slightly upward, retreating from the position of the assembled white block on the purple rod."}
+{"subtask_index": 531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table near the green block, with fingers slightly spread, and does not touch the block yet."}
+{"subtask_index": 532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closes fingers gradually and makes small adjustments to form a stable grip, while the block stays on the table surface."}
+{"subtask_index": 533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the black table steadily, with no observable movement of the hand, fingers or the block."}
+{"subtask_index": 534, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block resting on the black table surface beside the green block, closing fingers to establish a stable grip while the block remains on the table."}
+{"subtask_index": 535, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the black table surface and carries it upward toward the wooden block rack, positioning the block directly above the vertical purple rod atop the stacked blocks."}
+{"subtask_index": 536, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the vertical purple rod, making small positional and rotational adjustments to fit the block onto the rod while lowering it toward the supporting block below."}
+{"subtask_index": 537, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: place_release: Right hand lowers the white cylindrical block to rest fully on the supporting block on the rack, opening its fingers to release grip on the now-stationary block."}
+{"subtask_index": 538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: retreat: Right hand moves empty away from the stacked blocks on the wooden rack, retracting toward the right side of the workspace."}
+{"subtask_index": 539, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: reach: Right hand moves downward toward the green holed cubic block on the table with fingers slightly spread."}
+{"subtask_index": 540, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed cubic block on the table, adjusting finger contact positions to form a grip."}
+{"subtask_index": 541, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: lift: Right hand lifts the green block vertically upward, separating the block completely from the black table surface."}
+{"subtask_index": 542, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: transport: Right hand carries the lifted green block upward and toward the top of the stacked cylinders on the wooden base."}
+{"subtask_index": 543, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: mate: Right hand aligns the hole of the green block with the top of the target purple-topped cylinder, adjusting wrist and finger positions slightly to fit the block onto the cylinder."}
+{"subtask_index": 544, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving throughout the segment. | Right hand: release: Right hand opens its fingers to release the green block, beginning to separate from the block now seated on the cylinder."}
+{"subtask_index": 545, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the table surface in front of the wooden peg rack, with the wrist rotating about 90 degrees downward to face the fingers toward the block."}
+{"subtask_index": 546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table and adjusts the grip to stabilize the block."}
+{"subtask_index": 547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}
+{"subtask_index": 548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it to above the leftmost purple peg on the wooden board."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it down onto the peg until the block rests on the wooden board."}
+{"subtask_index": 551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block onto the leftmost purple peg on the wooden base."}
+{"subtask_index": 553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 555, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the front-left purple peg."}
+{"subtask_index": 558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the front-left purple peg and inserts the block onto the peg."}
+{"subtask_index": 559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg without moving."}
+{"subtask_index": 560, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost purple peg on the wooden base and releases its grip on the block."}
+{"subtask_index": 561, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hollow block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hollow block off the table surface and transports it towards the left purple peg on the wooden rack."}
+{"subtask_index": 564, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hollow block with the left purple peg on the wooden rack, fits it onto the peg, and makes small adjustments to complete the assembly."}
+{"subtask_index": 565, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the white hollow block on the purple peg, with fingers opening to separate from the block."}
+{"subtask_index": 566, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the stacking tower."}
+{"subtask_index": 567, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases the object."}
+{"subtask_index": 570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the dark table surface."}
+{"subtask_index": 571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the dark table surface without moving."}
+{"subtask_index": 573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table, with fingers closing to form a stable grip."}
+{"subtask_index": 574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the green cubic block upward off the table surface."}
+{"subtask_index": 575, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the green cubic block upward and toward the wooden peg board on the table."}
+{"subtask_index": 576, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cubic block with the vertical peg on the board and lowers it to fit onto the peg."}
+{"subtask_index": 577, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the upper block set toward the white hexagonal block on the table."}
+{"subtask_index": 578, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 579, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the table next to the green cubic block without moving."}
+{"subtask_index": 580, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the back-right peg board."}
+{"subtask_index": 581, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand mates the white cylindrical object onto a vertical peg on the peg board via aligning and downward movement."}
+{"subtask_index": 582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white cylindrical object fitted on the peg without moving."}
+{"subtask_index": 583, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves down and right from the top of the block stack toward the white hexagonal block on the table."}
+{"subtask_index": 584, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, with slight grip adjustment."}
+{"subtask_index": 585, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 586, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 587, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod."}
+{"subtask_index": 588, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by inserting the rod into the block's hole, and releases the block."}
+{"subtask_index": 589, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_release: Right hand lifts the purple rod upward from the white cylinder on the right side of the pegboard and releases the rod."}
+{"subtask_index": 590, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 591, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 592, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 593, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the white cylindrical block up from the table surface."}
+{"subtask_index": 594, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand transports the white cylindrical block above the purple rod on the wooden rack."}
+{"subtask_index": 595, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it down onto the rod to complete assembly."}
+{"subtask_index": 596, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the top part of the rightmost white cylinder on the wooden rack."}
+{"subtask_index": 597, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block placed on the black table surface."}
+{"subtask_index": 598, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 599, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and moves it upward to the area above the wooden rack."}
+{"subtask_index": 600, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_release: Right hand aligns and adjusts the green cubic block to fit onto the white cylinder of the wooden rack before releasing it, causing the block to fall onto the table."}
+{"subtask_index": 601, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block that has fallen on the table."}
+{"subtask_index": 602, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers continuously adjusting the contact position and grip."}
+{"subtask_index": 603, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand grasps the green cube on the right table surface, with fingers closing to form a stable grip."}
+{"subtask_index": 604, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it leftward to the top of the purple-tipped bottle at the front right of the bottle rack."}
+{"subtask_index": 605, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the green cube with the purple-tipped bottle and fits it onto the bottle, making continuous fine adjustments to the position and orientation of the green cube during the assembly process."}
+{"subtask_index": 606, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release: Right hand releases the green cube, with fingers opening and separating from the cube."}
+{"subtask_index": 607, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the right side of the table towards the green block located in front of the wooden peg base."}
+{"subtask_index": 608, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to contact and grasp the green block on the table."}
+{"subtask_index": 609, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface until it is completely off the support."}
+{"subtask_index": 610, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the green hexagonal block to the position above the vertical purple peg on the wooden base."}
+{"subtask_index": 611, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the target purple peg."}
+{"subtask_index": 612, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg repeatedly to push it tightly onto the peg."}
+{"subtask_index": 613, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green hexagonal block and moves slightly upward away from the block."}
+{"subtask_index": 614, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 615, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the table and lifts it slightly off the table surface."}
+{"subtask_index": 616, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table."}
+{"subtask_index": 617, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the green rack."}
+{"subtask_index": 618, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 619, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to fix it, then releases the block."}
+{"subtask_index": 620, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats upwards away from the assembled block and rod."}
+{"subtask_index": 621, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 622, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop, with slight adjustment to stabilize the grip."}
+{"subtask_index": 623, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white hexagonal block on the black tabletop without moving."}
+{"subtask_index": 624, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the black table surface."}
+{"subtask_index": 625, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 626, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal sleeve with the top of the purple rod and inserts it onto the rod."}
+{"subtask_index": 627, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the white hexagonal sleeve down along the purple rod to fit it firmly in place."}
+{"subtask_index": 628, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward from the wooden rack area to the white hexagonal block on the table."}
+{"subtask_index": 629, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 630, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and moves it upward to the purple rod on the wooden rack."}
+{"subtask_index": 631, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block onto the purple rod."}
+{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward to another white hexagonal block on the table."}
+{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 634, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 635, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it downwards."}
+{"subtask_index": 636, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block and separates from it."}
+{"subtask_index": 637, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}
+{"subtask_index": 638, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the green hexagonal block on the table."}
+{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the rightmost purple rod on the wooden base."}
+{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the green hexagonal block with the top of the rightmost purple rod."}
+{"subtask_index": 641, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the green hexagonal block onto the purple rod and presses it down to fit securely."}
+{"subtask_index": 642, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}
+{"subtask_index": 643, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 644, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table surface."}
+{"subtask_index": 645, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it toward the rightmost purple rod on the wooden base."}
+{"subtask_index": 646, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and inserts it partially onto the rod."}
+{"subtask_index": 647, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without any movement."}
+{"subtask_index": 648, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the purple rod and transports it toward the right area of the black tabletop."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: transport: Right hand transports the white cylindrical block back toward the purple rod on the wooden base."}
+{"subtask_index": 650, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_press: Right hand places the white cylindrical block onto the purple rod and presses it down to fully seat it in position."}
+{"subtask_index": 651, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}
+{"subtask_index": 652, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: retreat: Right hand retreats from the wooden base area to the right side."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 655, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 656, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand inserts the white hollow cylinder onto the purple rod to complete the assembly."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts its fingers to stably grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it onto the rod to complete mating."}
+{"subtask_index": 661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: press: Right hand presses the top of the white bottle with purple tip on the right side of the wooden tray."}
+{"subtask_index": 663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: reach: Right hand moves from the area near the white bottle towards the green cubic block on the black tabletop."}
+{"subtask_index": 664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black tabletop."}
+{"subtask_index": 665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: lift_transport: Right hand lifts the green cubic object from the table and transports it towards the wooden tray with white bottles."}
+{"subtask_index": 666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: mate: Right hand aligns the hole of the green cubic object with the top of the target white bottle on the wooden tray."}
+{"subtask_index": 667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without any movement. | Right hand: place_release: Right hand places the green cubic object onto the top of the white bottle and releases the grip."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block placed to the left of the wooden assembly base, with fingers open and extended during the movement."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block left of the wooden assembly base to establish a stable grip."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark work surface."}
+{"subtask_index": 671, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block to align with the left purple peg on the wooden board, fitting the block onto the peg."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement of the hand or the block."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until the block rests stably on the surface of the wooden peg board."}
+{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden pegboard, releasing the block once the block is supported by the peg."}
+{"subtask_index": 675, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the pegboard area toward the white hexagonal nut resting on the black table surface in front of the pegboard."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut, making slight adjustments to form a stable grip on the nut."}
+{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without observable movement of the hand, fingers or the nut."}
+{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the white hexagonal block resting on the table."}
+{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}
+{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward to position it above the target purple rod on the wooden base."}
+{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the assembly base toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger and wrist positions while closing fingers around the block to establish a stable grip."}
+{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to position above the leftmost purple rod on the wooden block stand."}
+{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the leftmost purple rod and lowers the block to fit onto the rod with small position adjustments."}
+{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden stand without any observable movement."}
+{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand moves downward to place white capped cylindrical blocks onto the vertical pegs of the wooden base, until each block is stably supported by the pegs."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block located on the table in front of the wooden base."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface."}
+{"subtask_index": 690, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block without any observable movement of the hand, wrist, fingers or the block."}
+{"subtask_index": 691, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 692, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}
+{"subtask_index": 693, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand and lowers the block to fit onto the rod, making small wrist adjustments to align the parts correctly."}
+{"subtask_index": 694, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod, with no observable movement of the hand, fingers or the block."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block positioned on the purple rod."}
+{"subtask_index": 696, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to set it onto the purple post on the wooden peg base, until the block rests stably on the base."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple post, separating from the block."}
+{"subtask_index": 698, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark work surface, approaching the target block without making contact."}
+{"subtask_index": 699, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusting finger positions to close around the block to form a stable grip."}
+{"subtask_index": 700, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the work surface and transports it upward to the area above the purple peg on the wooden assembly stand."}
+{"subtask_index": 701, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making slight positional adjustments to fit the block onto the peg."}
+{"subtask_index": 702, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple peg until the block rests stably on the white hexagonal block beneath it."}
+{"subtask_index": 703, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the green block, moves it downward to seat it on the matching green peg of the wooden block base, and releases the block with open fingers as the block becomes supported by the base."}
+{"subtask_index": 704, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface in front of the block base."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, making small adjustments to finger position to establish a grip on the block."}
+{"subtask_index": 706, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block vertically upward to raise it completely off the black table surface."}
+{"subtask_index": 707, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves the lifted white cylindrical block upward and toward the wooden assembly base, positioning it directly above the target vertical mounting rod."}
+{"subtask_index": 708, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target vertical rod on the assembly stand, then lowers the block to fit it onto the rod."}
+{"subtask_index": 709, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white-and-green block, aligns it with the peg on the wooden base, lowers it until the block is supported by the base, and opens fingers to release contact with the block."}
+{"subtask_index": 710, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward and to the right from the wooden base area toward the loose white hexagonal block resting on the dark table surface."}
+{"subtask_index": 711, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand positions fingers around the loose white hexagonal block on the table and closes fingers to form a grip on the block."}
+{"subtask_index": 712, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface near the wooden block stand without moving."}
+{"subtask_index": 713, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the white hexagonal block straight upward, fully separating it from the table surface."}
+{"subtask_index": 714, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the white hexagonal block upward to position it directly above the purple vertical rod on the wooden stand."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, fitting the block onto the top end of the rod."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block partially fitted on the purple rod without moving."}
+{"subtask_index": 717, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block, sliding it further down the purple rod to continue the fitting process."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the area adjacent to the purple rod on the wooden block rack toward the white hexagonal block placed on the black table, fingers held slightly open during the movement."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and making small adjustments to form a grip on the block."}
+{"subtask_index": 720, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is completely separated from the table surface."}
+{"subtask_index": 721, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward toward the purple rod on the wooden block rack."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moving the block downward to fit onto the rod."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement of the hand or the block."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from the position near the purple-topped cylinder on the wooden holder downward and to the right, approaching the green cubic block placed on the dark table surface."}
+{"subtask_index": 725, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its thumb and index finger positions around the green cubic block, with fingers slightly closing to form a grip while the block remains resting on the table surface."}
+{"subtask_index": 726, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward off the black table surface."}
+{"subtask_index": 727, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward to the position directly above the purple-capped bottle on the wooden bottle rack."}
+{"subtask_index": 728, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple cap of the target bottle, adjusting the block's orientation slightly to match the cap."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the aligned green block downward until it fits onto the bottle cap and is stably supported by the bottle."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block steadily on top of the purple-capped bottle without observable movement of the hand or the block."}
+{"subtask_index": 731, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, separating from the block which remains stable on the bottle."}
+{"subtask_index": 732, "subtask": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position and stops. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}
+{"subtask_index": 733, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the workspace toward the green hexagonal block on the left side of the table, with the wrist rotating slightly to adjust hand orientation."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the left table and adjusts the grip to stabilize the block."}
+{"subtask_index": 735, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the left table without moving."}
+{"subtask_index": 736, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table, with fingers closing and adjusting to secure the block."}
+{"subtask_index": 737, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the dark table to the area above the leftmost peg on the wooden board."}
+{"subtask_index": 738, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg on the wooden board and lowers it to fit onto the peg."}
+{"subtask_index": 739, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost peg without moving."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 741, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the block."}
+{"subtask_index": 742, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches down toward the white hexagonal block on the black table surface."}
+{"subtask_index": 743, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with closing and adjusting fingers."}
+{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing to form a stable grip."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table while moving it to the position above the leftmost purple peg on the base."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and moves it down to fit the block onto the peg."}
+{"subtask_index": 748, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the leftmost purple peg to push it to the bottom of the peg."}
+{"subtask_index": 749, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases its grip on the white hexagonal block, with fingers opening and separating from the block."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table, with fingers slightly open."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers closing and adjusting contact position."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}
+{"subtask_index": 753, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 754, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block from the table and moves it to the top of the leftmost purple rod on the wooden rack."}
+{"subtask_index": 755, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod and fits it down onto the rod."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block fitted on the leftmost purple rod without moving."}
+{"subtask_index": 757, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white block on top of the leftmost vertical peg, with fingers opening."}
+{"subtask_index": 758, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the leftmost white hexagonal block on the table surface."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table surface, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 760, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}
+{"subtask_index": 761, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip while the block remains on the table surface."}
+{"subtask_index": 762, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above a purple peg on the wooden pegboard."}
+{"subtask_index": 763, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and fits the block onto the peg."}
+{"subtask_index": 764, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand lowers the white hexagonal block along the purple peg until the block is stably supported by the block structure below."}
+{"subtask_index": 765, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}
+{"subtask_index": 766, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 767, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 768, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 769, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 770, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block from the black table surface."}
+{"subtask_index": 771, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to the position above the pegboard with vertical pegs."}
+{"subtask_index": 772, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the middle vertical peg and fits it onto the peg."}
+{"subtask_index": 773, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the middle vertical peg of the pegboard without moving."}
+{"subtask_index": 774, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto a vertical peg on the wooden base."}
+{"subtask_index": 775, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 776, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing around it."}
+{"subtask_index": 777, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the peg rack."}
+{"subtask_index": 778, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the rack and moves it downward to fit the object onto the peg."}
+{"subtask_index": 779, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object fitted on the rack peg without moving."}
+{"subtask_index": 780, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the building block set's peg and releases it."}
+{"subtask_index": 781, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves empty toward the white cylindrical block on the dark table surface."}
+{"subtask_index": 782, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 783, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the purple rod on the wooden board."}
+{"subtask_index": 784, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_place: Right hand aligns the white cylindrical block with the purple rod, fits it onto the rod, and lowers it to rest on the wooden board."}
+{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}
+{"subtask_index": 786, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical block and moves away from the block."}
+{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white cubic block on the black table surface."}
+{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers around the white cubic block on the table to form a stable grasp, with slight finger position adjustment."}
+{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table surface and transports it upward and leftward toward the wooden pegboard with the purple peg."}
+{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple peg on the wooden pegboard and moves it downward to fit the block onto the peg."}
+{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top part of the front-right white cylinder on the wooden rack downward."}
+{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the table with empty hand."}
+{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp_lift: Right hand contacts the green cubic block on the table, closes fingers to grasp it, then lifts it upward off the table surface."}
+{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it toward the white peg with purple top on the wooden base."}
+{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped white peg on the wooden base by aligning the block's hole and inserting downward."}
+{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the leftmost purple rod of the wooden base."}
+{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the leftmost purple rod, fingers adjust to form a stable grip."}
+{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand holds the white cylinder and lifts it upward along the purple rod."}
+{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}
+{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and moves it downward to fit onto the peg to complete the assembly."}
+{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}
+{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black tabletop."}
+{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop with fingers closing around it to adjust grip."}
+{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block until it completely leaves the black table surface."}
+{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block above the purple rod on the wooden base."}
+{"subtask_index": 808, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod by lowering it onto the rod, then releases the block."}
+{"subtask_index": 809, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base."}
+{"subtask_index": 810, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}
+{"subtask_index": 811, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 812, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 813, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it onto the rod to complete assembly."}
+{"subtask_index": 814, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base peg, fingers open to separate from the block."}
+{"subtask_index": 815, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical block near the bottom edge of the wooden base."}
+{"subtask_index": 816, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the small white cylindrical block on the table, fingers adjust to form a stable grasp on the block."}
+{"subtask_index": 817, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden tray."}
+{"subtask_index": 818, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by lowering it onto the rod."}
+{"subtask_index": 819, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 820, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats downward away from the wooden base after placing the block."}
+{"subtask_index": 821, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the black tabletop."}
+{"subtask_index": 822, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing and adjusting to form stable grip."}
+{"subtask_index": 823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it above the purple rod on the wooden tray."}
+{"subtask_index": 824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden tray by lowering it onto the rod."}
+{"subtask_index": 825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the table."}
+{"subtask_index": 826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}
+{"subtask_index": 827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the peg on the wooden base."}
+{"subtask_index": 828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the target peg on the wooden base, adjusting to fit it properly."}
+{"subtask_index": 829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right black tabletop."}
+{"subtask_index": 830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block and adjusts fingers to form a stable grip."}
+{"subtask_index": 831, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 832, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by fitting it onto the rod."}
+{"subtask_index": 833, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}
+{"subtask_index": 834, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats away from the purple rod after releasing the cylinder."}
+{"subtask_index": 835, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base."}
+{"subtask_index": 836, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the black table surface."}
+{"subtask_index": 837, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 838, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the tabletop and moves it towards the wooden tray with stacked blocks."}
+{"subtask_index": 839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden tray and fits it onto the rod."}
+{"subtask_index": 840, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder which is placed on the purple rod of the wooden tray."}
+{"subtask_index": 841, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green square block on the black table surface."}
+{"subtask_index": 842, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table."}
+{"subtask_index": 843, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the white bottle with purple cap on the wooden base."}
+{"subtask_index": 844, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the hole of the green block with the top of the white bottle with purple cap."}
+{"subtask_index": 845, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white bottle to the target position."}
+{"subtask_index": 846, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens fingers to release the green block from grasp."}
+{"subtask_index": 847, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal block in front of the wooden peg base, with fingers extended, not yet contacting the target block."}
+{"subtask_index": 848, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making slight wrist and finger adjustments to form a grip on the block."}
+{"subtask_index": 849, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the gripped block."}
+{"subtask_index": 850, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the green hexagonal block resting on the dark table near the wooden pegboard."}
+{"subtask_index": 851, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the dark table surface."}
+{"subtask_index": 852, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden board and lowers the block to fit onto the peg."}
+{"subtask_index": 853, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement of the hand or the block."}
+{"subtask_index": 854, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: place_release: Right hand lowers the green hexagonal block onto a purple peg of the wooden pegboard until the block rests on underlying blocks, opens fingers to release grip on the green block."}
+{"subtask_index": 855, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal block placed on the table surface, making no contact with the target block during movement."}
+{"subtask_index": 856, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, makes small finger and wrist adjustments to establish a stable grip on the block."}
+{"subtask_index": 857, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the table surface in a stable grip, with no observable movement of the hand or the block."}
+{"subtask_index": 858, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block placed on the black table surface."}
+{"subtask_index": 859, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to the position above the purple vertical rod on the wooden assembly base."}
+{"subtask_index": 860, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, slides the block down the rod and adjusts its position to complete the nesting assembly on top of the green block below."}
+{"subtask_index": 861, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downwards towards the front-left white hexagonal block on the dark work surface."}
+{"subtask_index": 862, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block, making slight adjustments to finger contact points to establish a stable grasp, with the block remaining on the table surface."}
+{"subtask_index": 863, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and moves it upward to the position directly above the unoccupied purple rod on the wooden assembly block."}
+{"subtask_index": 864, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple rod and slides the nut down the rod to fit into the assembly."}
+{"subtask_index": 865, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without observable movement of the hand or the nut."}
+{"subtask_index": 866, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns and fits the white block onto the purple rod on the wooden assembly base."}
+{"subtask_index": 867, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_reach: Right hand releases the fitted white block on the purple rod and moves downward empty toward the adjacent white hexagonal block on the table."}
+{"subtask_index": 868, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface, adjusting finger contact positions to establish a stable grasp."}
+{"subtask_index": 869, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple vertical peg on the wooden base."}
+{"subtask_index": 870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical peg, lowering the block to fit it onto the peg during assembly."}
+{"subtask_index": 871, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted onto the purple vertical peg without observable movement."}
+{"subtask_index": 872, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the front green hexagonal block on the dark table surface, keeping fingers open while approaching the target."}
+{"subtask_index": 873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the front green hexagonal block on the table, closing fingers to make contact and form a stable grasp on the block."}
+{"subtask_index": 874, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, fully separating it from the table surface."}
+{"subtask_index": 875, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block toward the purple rod on the wooden block base, positioning it directly above the rod."}
+{"subtask_index": 876, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, then lowers the block to slide it onto the rod to complete the assembly fit."}
+{"subtask_index": 877, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block fitted on the purple rod, separating the hand from the block."}
+{"subtask_index": 878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed near the green block on the table, approaching the target nut."}
+{"subtask_index": 879, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, fingers close and adjust contact points to establish a stable grip on the nut."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}
+{"subtask_index": 881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position above the wooden block rack."}
+{"subtask_index": 882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and moves it downward to fit the block onto the rod."}
+{"subtask_index": 883, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden rack without moving."}
+{"subtask_index": 884, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens fingers to release the top white cylinder on the wooden assembly base, breaking contact with the object."}
+{"subtask_index": 885, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward to approach the small white hollow cylinder on the table near the assembly base."}
+{"subtask_index": 886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the small white hollow cylinder on the table, making fine adjustments to form a stable grasp."}
+{"subtask_index": 887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transporting it upward to a position directly above the purple vertical rod on the wooden block stand."}
+{"subtask_index": 888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, moving the block downward to fit onto the rod until it rests on the wooden base."}
+{"subtask_index": 889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block seated on the purple rod, moving slightly away from the assembled block."}
+{"subtask_index": 890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, with fingers slightly extended, without touching the block."}
+{"subtask_index": 891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to form a grasp, with the block remaining on the supporting table surface."}
+{"subtask_index": 892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface without obvious movement or hand shape change."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark-colored table surface, and moves it upward and leftward to the position above the empty slot on the light wooden block rack."}
+{"subtask_index": 894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the empty slot on the wooden block rack, inserts the block into the slot to complete the assembly."}
+{"subtask_index": 895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand releases the white bottle with a purple cap placed on the wooden tray, fingers opening to separate from the bottle surface."}
+{"subtask_index": 896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface, approaching the target while remaining empty."}
+{"subtask_index": 897, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions around the green square block, fingers gradually closing to establish contact with the block which stays on the table."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: lift: Right hand grips the green cubic block resting on the right black tabletop and lifts it upward until the block is completely separated from the table surface."}
+{"subtask_index": 899, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: transport: Right hand carries the lifted green cubic block, moving it upward and rightward to the position directly above the purple post on the wooden block tray."}
+{"subtask_index": 900, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green cubic block, aligns its central hole with the purple post, and fits the block down onto the post until the block is supported by underlying objects."}
+{"subtask_index": 901, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: grasp: Right hand maintains grip on the green cubic block fitted on the purple post, making slight finger and wrist adjustments to stabilize the block's placement."}
+{"subtask_index": 902, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no contact with any operated objects and no obvious movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green cubic block, fully separating the hand from the placed block."}
+{"subtask_index": 903, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block located on the left side of the wooden pegboard."}
+{"subtask_index": 904, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left of the wooden pegboard, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps and lifts the green cubic block from the dark table surface."}
+{"subtask_index": 906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the leftmost purple peg of the wooden base."}
+{"subtask_index": 907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand fits the green cubic block onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the leftmost purple peg without moving."}
+{"subtask_index": 909, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening to separate from the block."}
+{"subtask_index": 910, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the left-front purple peg of the wooden base."}
+{"subtask_index": 911, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front-left area of the table."}
+{"subtask_index": 912, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front-left area of the table, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 913, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it backward and upward to above the front-left purple peg on the wooden board."}
+{"subtask_index": 914, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front-left purple peg and inserts it downward onto the peg, adjusting the part's position during assembly."}
+{"subtask_index": 915, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the front-left purple peg without moving."}
+{"subtask_index": 916, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening to release the grip."}
+{"subtask_index": 917, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downwards from the wooden base area toward the white hexagonal block on the left side of the workbench surface."}
+{"subtask_index": 918, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting to establish a stable grip."}
+{"subtask_index": 919, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench surface without any observable movement."}
+{"subtask_index": 920, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 921, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden rack with purple rods."}
+{"subtask_index": 922, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod on the wooden rack and moves it downward along the rod for assembly."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white cylindrical block on the middle purple peg of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 924, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the left side of the table surface."}
+{"subtask_index": 925, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the top of the middle purple peg."}
+{"subtask_index": 927, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg of the wooden base by lowering it onto the peg."}
+{"subtask_index": 928, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg of the wooden base without moving."}
+{"subtask_index": 929, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release_reach: Right hand releases the white hexagonal block from the middle purple peg and moves downward toward the fallen white hexagonal block on the table."}
+{"subtask_index": 930, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: push: Right hand pushes the fallen white hexagonal block leftward across the table surface."}
+{"subtask_index": 931, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves leftward to approach the white hexagonal block on the left side of the table surface."}
+{"subtask_index": 932, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}
+{"subtask_index": 933, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward off the black table surface."}
+{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}
+{"subtask_index": 935, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning the part's hole with the peg and lowering it to fit in place."}
+{"subtask_index": 936, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hexagonal part fitted on the purple peg, with fingers opening and separating from the part."}
+{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple rod and releases the block."}
+{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}
+{"subtask_index": 939, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 940, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward to the position above the wooden peg board."}
+{"subtask_index": 941, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the wooden board."}
+{"subtask_index": 942, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg without moving."}
+{"subtask_index": 943, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand mates the white hollow block with the post on the green block of the block tower and releases it."}
+{"subtask_index": 944, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table below the block tower."}
+{"subtask_index": 945, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 946, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upward and leftward toward the wooden block rack."}
+{"subtask_index": 947, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the green peg on the wooden rack and fits it down onto the peg."}
+{"subtask_index": 948, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white hollow block on the block set peg, with fingers opening from a closed position."}
+{"subtask_index": 949, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hollow block on the table surface."}
+{"subtask_index": 950, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 951, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}
+{"subtask_index": 952, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the white hollow hexagonal block to the position above the purple vertical rod on the wooden base."}
+{"subtask_index": 953, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple vertical rod and inserts the block downward along the rod until it rests on the wooden base."}
+{"subtask_index": 954, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 955, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper block set area toward the white hexagonal block on the table."}
+{"subtask_index": 956, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 957, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple rod on the rack."}
+{"subtask_index": 958, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and moves it downward to fit the block onto the rod."}
+{"subtask_index": 959, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening to separate from the block."}
+{"subtask_index": 960, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: retreat: Right hand retreats upward away from the white block on the purple rod."}
+{"subtask_index": 961, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the upper bottle array area to approach the green cube on the table surface."}
+{"subtask_index": 962, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the table and lifts it slightly off the table surface."}
+{"subtask_index": 963, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport: Right hand transports the green cube upward toward the bottle array."}
+{"subtask_index": 964, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand aligns and fits the green cube onto a white bottle, making small adjustments to the cube's position during mating."}
+{"subtask_index": 965, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube upward off the top of the white bottle."}
+{"subtask_index": 966, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube downward to the table and places it on the table surface."}
+{"subtask_index": 967, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: release: Right hand releases its grip on the green cube, separating its fingers from the cube."}
+{"subtask_index": 968, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: idle: Right hand remains empty next to the green cube on the table without moving."}
+{"subtask_index": 969, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand closes its fingers around the green cube and adjusts its grip to stabilize the hold."}
+{"subtask_index": 970, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube up from the table surface."}
+{"subtask_index": 971, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate_release: Right hand adjusts the green cube on a white bottle for mating, and releases its grip causing the cube to fall onto the table."}
+{"subtask_index": 972, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: reach: Right hand moves downward from the bottle array area to approach the green cube on the table surface."}
+{"subtask_index": 973, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift: Right hand lifts the green cube slightly off the table surface."}
+{"subtask_index": 974, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: transport_place: Right hand transports the green cube slightly and places it back on the table surface."}
+{"subtask_index": 975, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, adjusting its fingers to form a stable grip."}
+{"subtask_index": 976, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: lift_transport: Right hand lifts and transports the green cubic block from the dark table to the position above the purple-topped bottle on the wooden tray."}
+{"subtask_index": 977, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: mate: Right hand mates the green cubic block with the purple-topped bottle by aligning the block's hole with the bottle top and lowering it onto the bottle."}
+{"subtask_index": 978, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workbench without moving. | Right hand: hold: Right hand holds the green cubic block on the purple-topped bottle without moving."}
+{"subtask_index": 979, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward from the right side of the table towards the green block on the table in front of the left side of the wooden rack."}
+{"subtask_index": 980, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to establish a stable grasp on the block."}
+{"subtask_index": 981, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and moves it to above the leftmost purple peg on the wooden base."}
+{"subtask_index": 982, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and presses it down to fit onto the peg."}
+{"subtask_index": 983, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block that is now mounted on the purple peg."}
+{"subtask_index": 984, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal object placed on the table."}
+{"subtask_index": 985, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}
+{"subtask_index": 986, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 987, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple post on the wooden base."}
+{"subtask_index": 988, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and fits the block onto the post."}
+{"subtask_index": 989, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to the bottom position."}
+{"subtask_index": 990, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}
+{"subtask_index": 991, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal object on the black table surface."}
+{"subtask_index": 992, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the black table surface."}
+{"subtask_index": 993, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}
+{"subtask_index": 994, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white cube placed on the black table surface."}
+{"subtask_index": 995, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and moves it towards the target purple rod on the storage rack."}
+{"subtask_index": 996, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cube with the purple rod and inserts it onto the rod to complete the assembly."}
+{"subtask_index": 997, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the stacked blocks on the wooden base."}
+{"subtask_index": 998, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white object on the table in front of the wooden base."}
+{"subtask_index": 999, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small white object on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1000, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden rack."}
+{"subtask_index": 1001, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts the block onto the rod."}
+{"subtask_index": 1002, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it tightly in position."}
+{"subtask_index": 1003, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the green cubic block on the black table surface."}
+{"subtask_index": 1004, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the table, with slight grip adjustments to stabilize the block."}
+{"subtask_index": 1005, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the tabletop and moves it towards the purple rod on the wooden rack."}
+{"subtask_index": 1006, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green square block with the top of the target purple rod."}
+{"subtask_index": 1007, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green square block along the purple rod until it rests stably on the rod."}
+{"subtask_index": 1008, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1009, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1010, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the held white hexagonal block to adjust its orientation, with little position change."}
+{"subtask_index": 1011, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the reoriented white hexagonal block without moving."}
+{"subtask_index": 1012, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black tabletop, adjusting fingers to form stable grip."}
+{"subtask_index": 1013, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it to the position above the target peg on the wooden base."}
+{"subtask_index": 1014, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the target peg on the wooden base for insertion."}
+{"subtask_index": 1015, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the peg to secure it in place."}
+{"subtask_index": 1016, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}
+{"subtask_index": 1017, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward empty, approaching the white cylindrical block on the table surface."}
+{"subtask_index": 1018, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight hand posture adjustment to stabilize the grip."}
+{"subtask_index": 1019, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 1020, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden rack and inserts it onto the rod."}
+{"subtask_index": 1021, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward along the purple rod to secure it in place."}
+{"subtask_index": 1022, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the desktop."}
+{"subtask_index": 1023, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the desktop."}
+{"subtask_index": 1024, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the tabletop and moves it to the position above the empty slot of the wooden block rack."}
+{"subtask_index": 1025, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the empty slot of the wooden rack."}
+{"subtask_index": 1026, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white block downwards to secure it in the slot of the wooden rack and releases the block."}
+{"subtask_index": 1027, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the wooden block rack."}
+{"subtask_index": 1028, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube on the black table."}
+{"subtask_index": 1029, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table."}
+{"subtask_index": 1030, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the white bottle with purple cap on the wooden rack."}
+{"subtask_index": 1031, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white bottle with purple cap and inserts it onto the bottle to finish assembly."}
+{"subtask_index": 1032, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}
+{"subtask_index": 1033, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side of the table downward and leftward toward the green hexagonal block placed in front of the wooden pegboard, with fingers held extended."}
+{"subtask_index": 1034, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions and wrist orientation slightly to establish a stable grip on the block."}
+{"subtask_index": 1035, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until it is fully separated from the table surface."}
+{"subtask_index": 1036, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the target purple vertical peg on the wooden base."}
+{"subtask_index": 1037, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}
+{"subtask_index": 1038, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or the block."}
+{"subtask_index": 1039, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the green block, moves it downward along the leftmost purple peg to the wooden base, and opens fingers to release the block onto the base."}
+{"subtask_index": 1040, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward from the pegboard area toward the front-left white hexagonal block on the dark table surface, with fingers held slightly open."}
+{"subtask_index": 1041, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the front-left white hexagonal block, closes fingers around the block and makes small positional adjustments to establish a stable grip."}
+{"subtask_index": 1042, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped white hexagonal nut upward until it is completely separated from the dark table surface."}
+{"subtask_index": 1043, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward through the air to the position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 1044, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the purple peg and fits the nut onto the peg to begin assembly."}
+{"subtask_index": 1045, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: press: Right hand applies downward pressure on the white hexagonal nut, making small orientation adjustments to slide the nut further down the purple peg."}
+{"subtask_index": 1046, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the leftmost white hexagonal block on the dark table surface, with fingers slightly spread."}
+{"subtask_index": 1047, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}
+{"subtask_index": 1048, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving, maintaining a stable, motionless grip."}
+{"subtask_index": 1049, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 1050, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully separated from the table surface."}
+{"subtask_index": 1051, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple rod on the wooden block rack."}
+{"subtask_index": 1052, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and moves the block downward to fit it onto the rod."}
+{"subtask_index": 1053, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden stand area toward the white hexagonal block placed on the table in front of the stand, with no contact made to the target block yet."}
+{"subtask_index": 1054, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closes fingers around the block and makes slight wrist and finger adjustments to establish a stable grip, with the block still resting on the table surface."}
+{"subtask_index": 1055, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to the position above the purple peg on the wooden assembly base."}
+{"subtask_index": 1056, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand makes slight positional and orientational adjustments to the white hexagonal cylinder to align its central hole with the purple peg on the wooden base."}
+{"subtask_index": 1057, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the aligned white hexagonal cylinder down along the purple peg until it rests stably on the supporting block below on the wooden base."}
+{"subtask_index": 1058, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the green hexagonal block on the black table surface, with fingers kept open."}
+{"subtask_index": 1059, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger and wrist positions around the green hexagonal block, closing fingers gradually to attempt establishing a stable grip on the block."}
+{"subtask_index": 1060, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward until it is completely separated from the table surface."}
+{"subtask_index": 1061, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward toward the purple rod on the wooden base."}
+{"subtask_index": 1062, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it down onto the rod."}
+{"subtask_index": 1063, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without any visible movement."}
+{"subtask_index": 1064, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns and presses it down to fit onto the purple rod of the wooden block base."}
+{"subtask_index": 1065, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base area, approaching the white hexagonal block placed on the table near the loose green block."}
+{"subtask_index": 1066, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block with minor adjustments to establish a stable grip."}
+{"subtask_index": 1067, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward until the block is fully separated from the dark work surface."}
+{"subtask_index": 1068, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and forward toward the purple peg on the wooden block base."}
+{"subtask_index": 1069, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, adjusts its position slightly, and lowers it to fit onto the peg."}
+{"subtask_index": 1070, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, fingers gradually opening to separate fully from the block."}
+{"subtask_index": 1071, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and rightward with an empty hand, approaching the white hexagonal block placed near the wooden base without touching the block."}
+{"subtask_index": 1072, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger position adjustments to establish a grasp, while the block stays stationary on the table surface."}
+{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 1074, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and moves it upward to the position directly above the purple vertical rod on the wooden block base."}
+{"subtask_index": 1075, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and fits the block onto the rod."}
+{"subtask_index": 1076, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place: Right hand moves downward to place the grasped white hexagonal block onto the base of the purple rod on the wooden pegboard, until the block is fully supported by the base."}
+{"subtask_index": 1077, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod base, separating fingers from the block."}
+{"subtask_index": 1078, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty rightward and downward toward the loose white hexagonal block resting on the dark table surface."}
+{"subtask_index": 1079, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table surface, making small finger adjustments to establish a stable grip."}
+{"subtask_index": 1080, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block steadily on the right side of the table surface without observable movement."}
+{"subtask_index": 1081, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward and leftward to the position directly above the empty slot on the wooden block holder."}
+{"subtask_index": 1082, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty slot on the wooden block holder and moves it downward to insert the block into the slot."}
+{"subtask_index": 1083, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the upper area of the wooden bottle rack downward and rightward toward the green cube placed on the dark table surface."}
+{"subtask_index": 1084, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the green cube on the dark table surface to form a stable grip, with the cube remaining in contact with the table."}
+{"subtask_index": 1085, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped green cube upward until the cube is fully separated from the dark table surface."}
+{"subtask_index": 1086, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube upward and leftward through the air to position it directly above the purple-topped bottle on the wooden rack."}
+{"subtask_index": 1087, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position and orientation of the grasped green cube to align its central hole with the purple-topped bottle on the wooden rack."}
+{"subtask_index": 1088, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green cube above the purple-topped bottle on the wooden rack without any observable movement of the hand or the cube."}
+{"subtask_index": 1089, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green cube downward and rightward through the air away from the bottle rack, moving back toward the green cube's original position on the table."}
+{"subtask_index": 1090, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the green cube until it rests stably on the dark table surface, opening its fingers to release the grip on the cube."}
+{"subtask_index": 1091, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: retreat: Right hand moves empty a short distance away from the green cube resting on the table surface."}
+{"subtask_index": 1092, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: idle: Right hand remains empty at a position adjacent to the green cube on the table, with no observable movement."}
+{"subtask_index": 1093, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block resting on the black table surface."}
+{"subtask_index": 1094, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the green hexagonal block upward to completely raise it off the table surface."}
+{"subtask_index": 1095, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: transport: Right hand moves the held green hexagonal block upward and forward to position it above the purple peg on the wooden stand."}
+{"subtask_index": 1096, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block stationary in the air directly above the purple peg on the wooden stand without moving."}
+{"subtask_index": 1097, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block to fit it onto the peg."}
+{"subtask_index": 1098, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted green hexagonal block on the purple peg without any visible movement or adjustment."}
+{"subtask_index": 1099, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no visible movement of the hand, wrist or fingers. | Right hand: release: Right hand gradually opens its fingers to release the grip on the green hexagonal block resting on the purple peg."}
+{"subtask_index": 1100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green hexagonal block on the black table surface, without touching the block."}
+{"subtask_index": 1101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the black table surface."}
+{"subtask_index": 1103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 1104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg, aligning the block's hole with the peg and lowering it into place."}
+{"subtask_index": 1105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 1106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}
+{"subtask_index": 1107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block that has fallen onto the black table surface."}
+{"subtask_index": 1108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand reorients the green hexagonal block on the black table, rotating the block to adjust its posture while its position remains mostly unchanged."}
+{"subtask_index": 1109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block upward off the dark table surface and transports it to the position above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and lowers it along the peg to complete the fitting assembly."}
+{"subtask_index": 1112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the leftmost purple peg, with fingers opening to separate from the block."}
+{"subtask_index": 1113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table directly below the leftmost purple rod, keeping empty."}
+{"subtask_index": 1114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting slightly to stabilize the grip."}
+{"subtask_index": 1115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_mate: Right hand lifts the white hexagonal block and moves it upward to align and fit onto the leftmost purple rod."}
+{"subtask_index": 1116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and leftward to the position above the leftmost purple peg."}
+{"subtask_index": 1117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and inserts the block downward along the peg to assemble with the green block below."}
+{"subtask_index": 1118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and moving slightly upward."}
+{"subtask_index": 1119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}
+{"subtask_index": 1120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing to adjust the grip."}
+{"subtask_index": 1122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal piece off the black table surface."}
+{"subtask_index": 1123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal piece upward and toward the wooden rack with purple pegs."}
+{"subtask_index": 1124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with a purple peg on the wooden rack and lowers it to fit onto the peg."}
+{"subtask_index": 1125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the frontmost purple peg, with fingers opening to separate from the block."}
+{"subtask_index": 1126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table above the green square block."}
+{"subtask_index": 1127, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}
+{"subtask_index": 1128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table next to the green block, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table next to the green block without moving."}
+{"subtask_index": 1130, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it toward the purple peg on the wooden board."}
+{"subtask_index": 1131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden board, aligning the block's hole with the peg and lowering it into place."}
+{"subtask_index": 1132, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cubic block onto the middle purple peg of the wooden base, then opens fingers to release the block."}
+{"subtask_index": 1133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the peg assembly area toward the green cubic block on the dark table surface."}
+{"subtask_index": 1134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the position above the target peg on the wooden base."}
+{"subtask_index": 1135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target vertical peg by lowering and fitting it onto the peg."}
+{"subtask_index": 1136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the target peg without moving."}
+{"subtask_index": 1137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white block onto the purple vertical rod on the wooden base and releases its grip on the block."}
+{"subtask_index": 1138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1139, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it toward the peg board at the back of the frame."}
+{"subtask_index": 1140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the peg on the peg board by aligning and lowering it onto the peg."}
+{"subtask_index": 1141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the peg of the board without moving."}
+{"subtask_index": 1142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block with the purple vertical rod and releases its grasp."}
+{"subtask_index": 1143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cylindrical block on the table."}
+{"subtask_index": 1144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table with fingers closing and adjusting."}
+{"subtask_index": 1145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and moves it upward and leftward to the position above the wooden rack."}
+{"subtask_index": 1146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod on the wooden rack and inserts it onto the rod to complete the assembly."}
+{"subtask_index": 1147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple rod of the wooden rack without moving."}
+{"subtask_index": 1148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand adjusts the white block on the purple rod to complete assembly, then releases the block."}
+{"subtask_index": 1149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table surface."}
+{"subtask_index": 1150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table, and slightly adjusts the grip posture."}
+{"subtask_index": 1151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up until it leaves the table surface."}
+{"subtask_index": 1152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves up and left to the position above the purple rod."}
+{"subtask_index": 1153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod, lowers it onto the rod, and adjusts the position to complete the nesting assembly."}
+{"subtask_index": 1154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the purple rod."}
+{"subtask_index": 1155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves left towards the white block on the wooden rack."}
+{"subtask_index": 1156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the wooden rack, and slightly adjusts the grip."}
+{"subtask_index": 1157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up until it leaves the support of the wooden rack."}
+{"subtask_index": 1158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white block and moves down and right to the position above the table surface."}
+{"subtask_index": 1159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white block onto the table surface until it is stably supported by the table."}
+{"subtask_index": 1160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white block on the table."}
+{"subtask_index": 1161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves to the other side of the white block on the table, approaching the block again."}
+{"subtask_index": 1162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the table again, and slightly adjusts the grip posture."}
+{"subtask_index": 1163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without any observable movement."}
+{"subtask_index": 1164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the right side of the table, with fingers adjusting slightly to stabilize the grip."}
+{"subtask_index": 1165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and fits it down along the rod to complete assembly."}
+{"subtask_index": 1167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object on the purple rod, with fingers opening and separating from the object."}
+{"subtask_index": 1168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the small purple object on the top of the white bottle at the wooden rack, then reaches toward the green cube on the dark table surface."}
+{"subtask_index": 1169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white rack with cylindrical posts at the table center."}
+{"subtask_index": 1171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top-right post of the white rack and inserts it onto the post to complete assembly."}
+{"subtask_index": 1172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the top-right post of the white rack without moving."}
+{"subtask_index": 1173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white block located at the top left of the wooden base."}
+{"subtask_index": 1174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers and makes slight adjustments to form a stable grasp on the white block at the top left of the wooden base."}
+{"subtask_index": 1175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards away from the wooden base."}
+{"subtask_index": 1176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green cubic block on the black table surface."}
+{"subtask_index": 1177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block up away from the black table surface."}
+{"subtask_index": 1178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple rod on the wooden base and inserts it onto the rod."}
+{"subtask_index": 1179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod until it reaches the wooden base."}
+{"subtask_index": 1180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block and moves slightly upward."}
+{"subtask_index": 1181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table."}
+{"subtask_index": 1182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand stays empty above the white hexagonal block without moving."}
+{"subtask_index": 1183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it to above the target purple peg on the wooden base."}
+{"subtask_index": 1184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and inserts the block onto the peg."}
+{"subtask_index": 1185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to make it fit tightly on the peg."}
+{"subtask_index": 1186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post of the wooden base."}
+{"subtask_index": 1187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table."}
+{"subtask_index": 1188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the leftmost purple rod on the wooden base."}
+{"subtask_index": 1190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the leftmost purple rod on the wooden base, lowering it onto the rod."}
+{"subtask_index": 1191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}
+{"subtask_index": 1192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table near the wooden base."}
+{"subtask_index": 1193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the table near the wooden base."}
+{"subtask_index": 1194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the black table surface."}
+{"subtask_index": 1195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple rod of the wooden stand."}
+{"subtask_index": 1196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by lowering and fitting it onto the rod."}
+{"subtask_index": 1197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the stacked block assembly toward the green cube on the table."}
+{"subtask_index": 1198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cube placed on the table."}
+{"subtask_index": 1199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden pegboard with pegs."}
+{"subtask_index": 1200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg on the wooden pegboard."}
+{"subtask_index": 1201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fit it onto the peg."}
+{"subtask_index": 1202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod on the wooden base."}
+{"subtask_index": 1203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}
+{"subtask_index": 1205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block toward the peg on the wooden base."}
+{"subtask_index": 1206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg of the wooden base."}
+{"subtask_index": 1207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block downward to fix it firmly on the peg."}
+{"subtask_index": 1208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the wooden base."}
+{"subtask_index": 1209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black tabletop."}
+{"subtask_index": 1210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black tabletop."}
+{"subtask_index": 1211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod, lowering it to fit onto the rod."}
+{"subtask_index": 1213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder fitted on the purple rod."}
+{"subtask_index": 1214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the table to its lower right."}
+{"subtask_index": 1215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts its fingers to form a stable grip."}
+{"subtask_index": 1216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it towards the wooden block rack."}
+{"subtask_index": 1217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block on the top of the purple post on the wooden rack."}
+{"subtask_index": 1218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple post by pushing it down along the post."}
+{"subtask_index": 1219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the right side of the wooden base."}
+{"subtask_index": 1220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green square block placed on the table."}
+{"subtask_index": 1221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block, adjusting fingers to form a stable grip."}
+{"subtask_index": 1222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block from the table and transports it towards the white cylindrical rack."}
+{"subtask_index": 1223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the top white cylinder on the rack and inserts it onto the cylinder."}
+{"subtask_index": 1224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hollow block down along the white cylinder to fit it stably, then releases the block."}
+{"subtask_index": 1225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace with open fingers, showing no autonomous movement or hand shape change during this period."}
+{"subtask_index": 1226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand with open fingers moves downward and leftward from its resting position toward the small object on the table in front of the wooden block base."}
+{"subtask_index": 1227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the small target object near the green block on the table, making small finger and wrist adjustments to establish a stable grasp."}
+{"subtask_index": 1228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward, completely separating it from the supporting table surface."}
+{"subtask_index": 1229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the lifted green hexagonal block through the air toward the wooden assembly board, positioning it directly above the target left purple peg."}
+{"subtask_index": 1230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand lowers the green hexagonal block, aligns its central hole with the left purple peg, and slides it down the peg to seat it on the existing stack of blocks as part of the assembly."}
+{"subtask_index": 1231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand lowers the green block onto the purple rod of the wooden base, fingers open to release the block as it settles stably on the base."}
+{"subtask_index": 1232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward toward the front left white hexagonal block placed on the dark table surface."}
+{"subtask_index": 1233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand fingers make slight adjusting movements while closing around the white hexagonal block to form a stable grip."}
+{"subtask_index": 1234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and moves it upward to the position above the target purple peg on the wooden assembly base."}
+{"subtask_index": 1235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the inner hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, assembling it onto the existing green block below."}
+{"subtask_index": 1236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple peg without any observable movement of the hand or the nut."}
+{"subtask_index": 1237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand holds the white-topped block, lowers it onto the purple peg of the wooden assembly until the block is fully seated, then opens fingers to release the block."}
+{"subtask_index": 1238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves down and slightly left from the wooden assembly toward the leftmost white hexagonal nut resting on the black table surface."}
+{"subtask_index": 1239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the leftmost white hexagonal nut to form a stable grip."}
+{"subtask_index": 1240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the leftmost white hexagonal nut on the black table surface without visible movement of the hand or the nut."}
+{"subtask_index": 1241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the black table surface."}
+{"subtask_index": 1242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden base."}
+{"subtask_index": 1243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden base, making small positional adjustments to fit the block onto the rod."}
+{"subtask_index": 1244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand holds the white cylindrical block and moves it downward to place it onto the purple post on the wooden base."}
+{"subtask_index": 1245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward empty to approach the white hollow block placed on the table near the wooden base."}
+{"subtask_index": 1246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hollow block on the table to establish a stable grip."}
+{"subtask_index": 1247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white cylindrical block fully off the table surface and moves it upward to position it directly above the target purple post on the wooden base."}
+{"subtask_index": 1248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central opening of the white cylindrical block with the purple post and lowers the block to fit it onto the post, establishing the nested assembly connection."}
+{"subtask_index": 1249, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place_release: Right hand places the white cylindrical block onto the purple vertical rod on the wooden base, releases the block, and moves fingers away from the positioned object."}
+{"subtask_index": 1250, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the left green hexagonal block on the black table surface, with fingers held slightly open as it approaches the target."}
+{"subtask_index": 1251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes small finger and wrist adjustments to establish contact and form a grasp on the left green hexagonal block on the table."}
+{"subtask_index": 1252, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward, until the block is fully separated from the dark table surface."}
+{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the green hexagonal block through the air toward the wooden assembly rack, positioning the block directly above the purple vertical rod on the rack."}
+{"subtask_index": 1254, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the purple vertical rod, fitting the block onto the rod to establish the assembly connection."}
+{"subtask_index": 1255, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand slides the green hexagonal block down the purple vertical rod, lowering it until the block rests stably on the underlying white block on the assembly rack."}
+{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand gradually opens its fingers to release the green hexagonal block, separating from the block which remains seated on the purple rod."}
+{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand stays empty above the wooden block assembly base without any observable movement."}
+{"subtask_index": 1258, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward with slightly open fingers toward the white hexagonal block placed on the dark table surface to the left of the green hexagonal block."}
+{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to finger positions to establish a stable grip while the block remains on the table."}
+{"subtask_index": 1260, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the table surface."}
+{"subtask_index": 1261, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward toward the purple vertical rod mounted on the wooden assembly base."}
+{"subtask_index": 1262, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then moves the block downward to fit onto the rod, making small positional adjustments to the block during the process."}
+{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand grips the white hexagonal block on the purple rod and pulls it upward until the block is fully removed from the rod."}
+{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block downward, moving it back toward the area of the table where the block was originally placed."}
+{"subtask_index": 1265, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: place: Right hand lowers the white hexagonal block downward until the block rests stably on the table surface, with fingers still holding the block."}
+{"subtask_index": 1266, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block resting on the table, separating the fingers from contact with the block."}
+{"subtask_index": 1267, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: idle: Right hand remains empty near the placed white hexagonal block without any observable movement."}
+{"subtask_index": 1268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal nut resting on the dark table surface."}
+{"subtask_index": 1269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward to completely separate it from the dark table surface."}
+{"subtask_index": 1270, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward and toward the purple rod mounted on the wooden base."}
+{"subtask_index": 1271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and moves the nut downward to fit onto the rod for assembly."}
+{"subtask_index": 1272, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut adjacent to the wooden assembly base, with fingers kept open."}
+{"subtask_index": 1273, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making slight finger and wrist adjustments to establish a stable grip, with the nut remaining on the supporting table surface."}
+{"subtask_index": 1274, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block and lifts it vertically upward from the dark table surface, with the block fully detaching from the table by the end of the segment."}
+{"subtask_index": 1275, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the light wooden base."}
+{"subtask_index": 1276, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the purple rod, and moves the block downward along the rod until the block rests steadily on the wooden base surface."}
+{"subtask_index": 1277, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens its fingers to release the grasp on the white hexagonal block seated on the purple rod, and moves slightly upward away from the block."}
+{"subtask_index": 1278, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface near the stacked block set."}
+{"subtask_index": 1279, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to form a stable grip."}
+{"subtask_index": 1280, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip with the nut still resting on the table."}
+{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward and left toward the purple rod on the wooden block stand."}
+{"subtask_index": 1282, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the stand and lowers the block to fit onto the rod."}
+{"subtask_index": 1283, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: reach: Right hand moves empty downward and rightward from the upper area near the block stand toward the green square block on the table, approaching the target without making contact."}
+{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 1285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make slight adjustments to establish a grip on the block, which remains on the table surface."}
+{"subtask_index": 1286, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: lift: Right hand moves vertically upward to lift the green hexagonal block completely off the black table surface."}
+{"subtask_index": 1287, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward to the position directly above the target white peg on the wooden block stand."}
+{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with no observable autonomous movement or hand shape change throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align it with the target white peg on the wooden stand, moves downward to fit the block onto the peg to establish the assembly connection."}
+{"subtask_index": 1289, "subtask": "Left hand: return_home: Left hand moves upward from the lower left position to the home position and stops, remaining empty with fingers slightly open. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}
+{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward from the lower right position, first upward then downward, approaching the green cubic block on the left side of the table, with fingers slightly open."}
+{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1292, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the left side of the table without moving, with the block remaining on the table surface."}
+{"subtask_index": 1293, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden base, adjusting fingers to form a stable grip."}
+{"subtask_index": 1294, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}
+{"subtask_index": 1295, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base, lowering it along the peg until it reaches the wooden base plate."}
+{"subtask_index": 1296, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the leftmost purple peg of the wooden base and releases the block."}
+{"subtask_index": 1297, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves down and left to approach the white hexagonal block on the black table surface."}
+{"subtask_index": 1298, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1299, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}
+{"subtask_index": 1300, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1301, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it upward to the position above the wooden pegboard."}
+{"subtask_index": 1302, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden board and inserts it down onto the peg."}
+{"subtask_index": 1303, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 1304, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the leftmost purple peg with fingers opening."}
+{"subtask_index": 1305, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table."}
+{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing."}
+{"subtask_index": 1307, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}
+{"subtask_index": 1308, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting slightly to stabilize the grip."}
+{"subtask_index": 1309, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost peg of the wooden pegboard."}
+{"subtask_index": 1310, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the pegboard by aligning the hole and inserting it downward."}
+{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the pegboard without moving."}
+{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top-left of the wooden base, with fingers opening and separating from the block."}
+{"subtask_index": 1313, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal cylindrical object on the table in front of the wooden base."}
+{"subtask_index": 1314, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal cylindrical object on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1315, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table and transports it to above the purple vertical rod on the wooden base."}
+{"subtask_index": 1316, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the purple vertical rod by aligning and lowering it into the assembled position."}
+{"subtask_index": 1317, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table."}
+{"subtask_index": 1318, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around it."}
+{"subtask_index": 1319, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}
+{"subtask_index": 1320, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1321, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the purple peg on the wooden rack."}
+{"subtask_index": 1322, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg on the wooden rack, moving the block downward to fit onto the peg."}
+{"subtask_index": 1323, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the green block of the wooden base, with fingers gradually opening."}
+{"subtask_index": 1324, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic block and white hexagonal block on the table surface."}
+{"subtask_index": 1325, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 1326, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}
+{"subtask_index": 1327, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white cylindrical object resting on the green cube, with the object staying stationary on the support."}
+{"subtask_index": 1328, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the green cube and transports it upward and leftward to the position above the purple rod on the wooden base."}
+{"subtask_index": 1329, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the inner hole of the white cylindrical object with the purple rod on the wooden base and inserts the object downward onto the rod to complete the assembly."}
+{"subtask_index": 1330, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical object, fully separating from the object."}
+{"subtask_index": 1331, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}
+{"subtask_index": 1332, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1333, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 1334, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table adjacent to the wooden rack, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1335, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1336, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand inserts the white hexagonal block onto the purple rod of the wooden rack and releases the grip on the block."}
+{"subtask_index": 1337, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand pushes the white block downward along the purple rod to complete the assembly."}
+{"subtask_index": 1338, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white block on the black table surface."}
+{"subtask_index": 1339, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1340, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 1341, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white perforated cube with the purple rod on the wooden rack and inserts it down onto the rod to complete assembly."}
+{"subtask_index": 1342, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white bottle on the wooden rack, with fingers opening and separating from the bottle top."}
+{"subtask_index": 1343, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward to approach the green cubic block on the dark table surface."}
+{"subtask_index": 1344, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1345, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it upward and leftward toward the bottle rack."}
+{"subtask_index": 1346, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target bottle on the wooden rack to fit the block onto the bottle."}
+{"subtask_index": 1347, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand places the green block down onto the target bottle until the block is stably supported by the bottle."}
+{"subtask_index": 1348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the small white part in front of the wooden rack on the table."}
+{"subtask_index": 1349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the small white part in front of the wooden rack."}
+{"subtask_index": 1350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the workspace and moves it to the position above the target purple peg on the wooden base."}
+{"subtask_index": 1351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple peg and inserts it onto the peg."}
+{"subtask_index": 1352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cube downward along the purple peg to secure it in place."}
+{"subtask_index": 1353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 1354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around the block."}
+{"subtask_index": 1356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it to above the purple peg on the base."}
+{"subtask_index": 1357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple peg on the base, adjusting to make it fit properly."}
+{"subtask_index": 1358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 1359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block's hole with the purple rod and inserts the block onto the rod."}
+{"subtask_index": 1361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure its position."}
+{"subtask_index": 1362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block and moves slightly away from the rod."}
+{"subtask_index": 1363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylinder in front of the wooden peg base."}
+{"subtask_index": 1364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the small white cylinder in front of the wooden peg base."}
+{"subtask_index": 1365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the empty purple peg on the wooden base."}
+{"subtask_index": 1366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the purple peg to secure it in place on the peg stack."}
+{"subtask_index": 1367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}
+{"subtask_index": 1368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the black table."}
+{"subtask_index": 1369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grasp on the green square block on the table."}
+{"subtask_index": 1370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the black table surface."}
+{"subtask_index": 1371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the purple peg on the wooden base."}
+{"subtask_index": 1372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 1373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without any movement."}
+{"subtask_index": 1374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden block base towards the white hexagonal block on the black table."}
+{"subtask_index": 1375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the table surface."}
+{"subtask_index": 1377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden base."}
+{"subtask_index": 1378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg of the wooden base until it is supported by the peg."}
+{"subtask_index": 1379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards another white hexagonal block on the table near the wooden base after the previous block falls off the peg."}
+{"subtask_index": 1380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to establish a stable hold."}
+{"subtask_index": 1381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the grasped white hexagonal block slowly towards the wooden block base."}
+{"subtask_index": 1382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}
+{"subtask_index": 1383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden peg rack."}
+{"subtask_index": 1384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg on the wooden rack."}
+{"subtask_index": 1385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple peg to secure it."}
+{"subtask_index": 1386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block."}
+{"subtask_index": 1387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly upwards away from the wooden peg rack."}
+{"subtask_index": 1388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table next to the wooden base."}
+{"subtask_index": 1389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to establish stable grip."}
+{"subtask_index": 1390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}
+{"subtask_index": 1391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 1392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by inserting it down onto the rod."}
+{"subtask_index": 1393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and moves slightly away from the rod."}
+{"subtask_index": 1394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 1395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table surface."}
+{"subtask_index": 1396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table and transports it above the empty slot of the wooden block rack."}
+{"subtask_index": 1397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cubic block with the empty slot on the wooden rack and inserts it into the slot."}
+{"subtask_index": 1398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cubic block that is fixed on the wooden block rack."}
+{"subtask_index": 1399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube placed on the black table surface."}
+{"subtask_index": 1400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish a stable grip on the green cube on the black table."}
+{"subtask_index": 1401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the black table without moving."}
+{"subtask_index": 1402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the black table, adjusting fingers to form stable grip."}
+{"subtask_index": 1403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the white bottle rack."}
+{"subtask_index": 1404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the white bottle with purple tip on the rack."}
+{"subtask_index": 1405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is fitted onto the bottle."}
+{"subtask_index": 1406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand, empty, moves leftward and downward toward the small white part next to the green hexagonal block near the wooden assembly."}
+{"subtask_index": 1407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the small white part on the table, making continuous slight adjustments to fingers and wrist to stabilize the grip."}
+{"subtask_index": 1408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above the leftmost purple peg on the wooden assembly board."}
+{"subtask_index": 1409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand lowers the green hexagonal block to align and fit it onto the leftmost purple peg, establishing the mated assembly relationship between the block and the peg."}
+{"subtask_index": 1410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block mated on the purple peg without any observable movement of the hand, fingers or the block."}
+{"subtask_index": 1411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the table surface behind the wooden pegboard and releases the block."}
+{"subtask_index": 1412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the front-left white hexagonal block on the table, approaching the target without establishing a grasp."}
+{"subtask_index": 1413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand contacts the front-left white hexagonal block, fingers close and make continuous small adjustments to form a stable grasp on the block."}
+{"subtask_index": 1414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves upward while gripping the white hexagonal nut, lifting the nut completely off the black table surface."}
+{"subtask_index": 1415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand moves upward while holding the lifted white hexagonal nut, transporting the nut to the area directly above the purple post on the wooden block base."}
+{"subtask_index": 1416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, making small positional adjustments to fit the nut onto the post."}
+{"subtask_index": 1417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the upper wooden block assembly toward the left white hexagonal block on the dark gray table surface, with fingers open and extended, not yet touching the block."}
+{"subtask_index": 1418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left white hexagonal block on the table, fingers close around the block and make small positional adjustments of the fingers and wrist to establish a firm grip, while the block stays on the table surface."}
+{"subtask_index": 1419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the left white hexagonal block steadily on the dark gray table surface, with no observable movement of the hand, fingers, wrist or the block."}
+{"subtask_index": 1420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand grasps the white hexagonal nut placed on the black table surface, adjusting finger positions to form a stable grip."}
+{"subtask_index": 1421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple rod on the wooden block rack."}
+{"subtask_index": 1422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the gripped white hexagonal nut with the target purple rod, moving the nut downward to fit it onto the rod to complete the assembly."}
+{"subtask_index": 1423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand grips the white hexagonal block on the wooden base and moves upward to lift it completely free of the base's supporting pegs."}
+{"subtask_index": 1424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport_place: Right hand carries the lifted white hexagonal block downward toward the dark table surface, adjusting its position until the block rests stably on the table."}
+{"subtask_index": 1425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface, with no visible movement of the hand or the block."}
+{"subtask_index": 1426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the table adjacent to the wooden peg board."}
+{"subtask_index": 1427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward, fully separating it from the table surface."}
+{"subtask_index": 1428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air to the position directly above the target purple peg on the wooden base."}
+{"subtask_index": 1429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the white hexagonal block to align its central hole with the target purple peg, lowering the block to seat onto the peg."}
+{"subtask_index": 1430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple peg with no observable movement of the hand or block."}
+{"subtask_index": 1431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the purple wooden peg on the wooden base, releasing the block as it settles stably on the stacked block below."}
+{"subtask_index": 1432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the green hexagonal block on the table surface."}
+{"subtask_index": 1433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing digits to form a grip on the block."}
+{"subtask_index": 1434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to the area above the wooden peg base."}
+{"subtask_index": 1435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the target vertical peg on the wooden base and fits the block onto the peg."}
+{"subtask_index": 1436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the wooden base peg without any observable movement."}
+{"subtask_index": 1437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward from the block assembly area toward the white hexagonal nut on the dark table surface, staying empty with no contact to the nut."}
+{"subtask_index": 1438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to form a stable grasp."}
+{"subtask_index": 1439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark work surface and moves it upward to the position above the wooden peg assembly."}
+{"subtask_index": 1440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden assembly and lowers the block to fit onto the peg."}
+{"subtask_index": 1441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple peg without observable movement of the hand or block."}
+{"subtask_index": 1442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the supported block."}
+{"subtask_index": 1443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty toward the white hexagonal block resting on the right section of the black table."}
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+{"subtask_index": 1445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block fully off the table surface and moves it upward to the position directly above the purple rod on the nearby wooden block rack."}
+{"subtask_index": 1446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to seat it securely on the rod, and opens its fingers to release the fully assembled block."}
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+{"subtask_index": 1448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making slight grip adjustments to hold the object."}
+{"subtask_index": 1449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}
+{"subtask_index": 1450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and backward to the position above the stacked block assembly."}
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+{"subtask_index": 1453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand releases the light purple cylindrical object seated in the wooden peg base, fingers open and move away until fully separated from the cylinder."}
+{"subtask_index": 1454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downwards toward the green hollow block on the dark table surface, making no contact with the block during this movement."}
+{"subtask_index": 1455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand fingers adjust around the green hollow block, closing and repositioning slightly to form a stable grip, with the block remaining stationary on the table surface."}
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+{"subtask_index": 1457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical peg and lowers the block to fit onto the peg."}
+{"subtask_index": 1458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple cylindrical peg without any observable movement of the hand or block."}
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+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 24
+}
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