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"text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers close gradually and adjust contact positions to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: 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movement or contact with any operated object. | Right hand: reach: Right hand moves downwards from the wooden block assembly stand toward the front-left white hexagonal nut on the black table surface, remaining empty with extended fingers."}, {"label": "goal", "start_step": 511, "end_step": 670, "id": "ecb586f9-498a-4323-8c3c-c81f9eaea9f2"}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, making small finger and wrist adjustments to establish a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without 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hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and forward from the wooden pegboard area toward the white hexagonal block on the black table surface, with fingers slightly spread as it approaches the target block."}, {"label": "goal", "start_step": 831, "end_step": 960, "id": "e9fe0316-72a9-4064-a8da-a1dfa353035f"}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table surface, closing fingers gradually to establish a grasp on the block."}, {"label": "goal", "start_step": 961, "end_step": 1440, "id": "6b06da02-a5d6-452b-b726-da937acf4ca4"}, {"label": "subtasks", 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idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: press: Right hand applies steady downward pressure along the vertical axis of the peg to seat the white hexagonal nut onto the stack, with small finger and wrist adjustments to maintain alignment during the process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block placed on the peg of the wooden block stand, separating from the block."}, {"label": "goal", "start_step": 1441, "end_step": 1580, "id": "bce9761d-d15e-4208-91c7-dcfffc18d4a4"}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00022", "text": "Left hand: idle: Left 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"id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post on the rack and slides the block down the post until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block and separates from the block seated on the purple post."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any 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at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward toward the purple peg on the light wooden block stand."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small position adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens fingers to release the 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{"label": "goal", "start_step": 2056, "end_step": 2185, "id": "084c00f7-46f8-4c1b-bc72-29e94fa3b163"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand moves the grasped white hexagonal block through the air toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00038", "text": "Left hand: idle: Left 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{"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: press: Right hand presses the white block on the purple vertical rod downwards to secure it fully onto the wooden base."}, {"label": "goal", "start_step": 2441, "end_step": 2555, "id": "2f6606c6-7e43-46ac-94e9-8877d52966f7"}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves empty in a downward-right direction toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand 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any operated object. | Right hand: transport: Right hand carries the lifted white cylindrical block, moving leftward and upward to position the block directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 2640, "end_step": 2991, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white cylindrical block with the purple rod, lowers the block along the rod until it rests stably on the lower white block on the rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3067, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled white cylindrical block on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3068, "end_step": 3081, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release grip on the white cylindrical block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3104, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: retreat: Right hand moves rightward and downward away from the wooden rack, retreating from the operation position with an empty hand."}, {"label": "subtasks", "start_step": 3105, "end_step": 3141, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and slightly left toward the green cube on the dark table, fingers kept extended as it approaches the target."}, {"label": "goal", "start_step": 3116, "end_step": 3200, "id": "5974b1b7-21a0-4017-9ef6-e439f2a40409"}, {"label": "subtasks", "start_step": 3142, "end_step": 3187, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green cube, fingers gradually close and adjust positions around the cube to establish a stable grip, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green cube steadily on the dark table surface without observable movement of the hand, fingers or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3217, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its fingers to firmly grasp the small green object resting on the dark table surface."}, {"label": "goal", "start_step": 3201, "end_step": 3450, "id": "f166213c-607e-495d-99a7-339ba53d5dcf"}, {"label": "subtasks", "start_step": 3218, "end_step": 3231, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped small green object upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 3232, "end_step": 3284, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the small green object through the air toward the wooden rack holding the white cylindrical objects."}, {"label": "subtasks", "start_step": 3285, "end_step": 3434, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the small green object to align it with the top of the target white cylinder on the wooden rack, fitting the object onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3457, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release the small green object, leaving the object resting stably on top of the target white cylinder."}, {"label": "subtasks", "start_step": 3458, "end_step": 3464, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: retreat: Right hand moves backward away from the assembled objects after releasing the green object."}, {"label": "home", "start_step": 3477, "end_step": 3504, "id": "e2ILqNFubVz_6GV42KyCL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block on the table in front-left of the wooden assembly base, with fingers extended and open."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers close gradually and adjust contact positions to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block placed on the table adjacent to the wooden peg board."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes subtle adjustments to finger positions and wrist angle to seat the green hexagonal block properly on the purple peg."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block steady on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downwards from the wooden block assembly stand toward the front-left white hexagonal nut on the black table surface, remaining empty with extended fingers."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, making small finger and wrist adjustments to establish a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the front-left white hexagonal nut steadily on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block and moves it toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 728, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then slides the block down the rod to fit onto the green base below."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and forward from the wooden pegboard area toward the white hexagonal block on the black table surface, with fingers slightly spread as it approaches the target block."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table surface, closing fingers gradually to establish a grasp on the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward and forward to position it directly above the target peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the target peg, lowering the nut until it rests on the stacked parts below on the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1439, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: press: Right hand applies steady downward pressure along the vertical axis of the peg to seat the white hexagonal nut onto the stack, with small finger and wrist adjustments to maintain alignment during the process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block placed on the peg of the wooden block stand, separating from the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table in front of the wooden stand, with an open hand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface near the wooden block rack without visible movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post on the rack and slides the block down the post until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block and separates from the block seated on the purple post."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and forward from above the wooden block rack toward the left front green hexagonal block on the table, with open fingers and no contact with the target block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the left front green hexagonal block on the table, adjusts finger positions and closes fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward toward the purple peg on the light wooden block stand."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small position adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens fingers to release the green block placed on the purple peg of the wooden block assembly, separating fully from the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downwards toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2077, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand moves the grasped white hexagonal block through the air toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table to the right of the wooden base, not yet making contact with the target block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, with fingers closing and adjusting to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand moves the grasped white hexagonal block upward off the dark table surface and shifts it leftward to hold the block directly above an empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2378, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: place: Right hand lowers the grasped white hexagonal block downward into the empty slot on the wooden block stand until the block is stably supported by the stand surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: press: Right hand presses the white block on the purple vertical rod downwards to secure it fully onto the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves empty in a downward-right direction toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand holds the white cylindrical block resting on the dark table surface, lifts the block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white cylindrical block, moving leftward and upward to position the block directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 2640, "end_step": 2991, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white cylindrical block with the purple rod, lowers the block along the rod until it rests stably on the lower white block on the rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3067, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled white cylindrical block on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3068, "end_step": 3081, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release grip on the white cylindrical block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3104, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: retreat: Right hand moves rightward and downward away from the wooden rack, retreating from the operation position with an empty hand."}, {"label": "subtasks", "start_step": 3105, "end_step": 3141, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and slightly left toward the green cube on the dark table, fingers kept extended as it approaches the target."}, {"label": "subtasks", "start_step": 3142, "end_step": 3187, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green cube, fingers gradually close and adjust positions around the cube to establish a stable grip, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green cube steadily on the dark table surface without observable movement of the hand, fingers or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3217, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its fingers to firmly grasp the small green object resting on the dark table surface."}, {"label": "subtasks", "start_step": 3218, "end_step": 3231, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped small green object upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 3232, "end_step": 3284, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the small green object through the air toward the wooden rack holding the white cylindrical objects."}, {"label": "subtasks", "start_step": 3285, "end_step": 3434, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the small green object to align it with the top of the target white cylinder on the wooden rack, fitting the object onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3457, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release the small green object, leaving the object resting stably on top of the target white cylinder."}, {"label": "subtasks", "start_step": 3458, "end_step": 3464, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: retreat: Right hand moves backward away from the assembled objects after releasing the green object."}], "episode_index": 0}
+{"source_uid": "d25acf98b3131efb", "num_frames": 3253, "annotation_status": "loaded", "has_annotation": true, "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: return_home: Left hand moves upward and returns to the left home position. | Right hand: reach: Right hand moves leftward and upward toward the white cylinder on the rightmost front purple rod."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "ea9cedb0-8cc0-49ba-b83a-f8455de5b0f8"}, {"label": "valid", "start_step": 0, "end_step": 3224, "id": "9TTY2FK0Kr3nqoSYnV1jg"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 upward toward the white cylinder on the rightmost front purple rod."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: other:dislodge_white_cylinder_from_rod: Right hand dislodges the white cylinder from the rightmost front purple rod, making the cylinder fall off."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "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 left front area of the table."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the left front area of the table."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00006", "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 surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "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 black table surface, with fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 201, "end_step": 615, "id": "bfec8efb-2b56-4c32-840c-ccddd29293ef"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the purple peg on the wooden base by adjusting and pressing it down, and releases the block after assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00010", "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 black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 616, "end_step": 670, "id": "abf50fef-53db-4a60-91af-b7adad27ef02"}, {"label": "goal", "start_step": 671, "end_step": 1030, "id": "c5e96744-df8c-411f-91e4-c3bcd17c8e0d"}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00012", "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 piece off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00013", "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 piece with the purple peg and fits the piece onto the peg."}, {"label": "subtasks", "start_step": 772, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "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 middle purple peg and releases the block."}, {"label": "goal", "start_step": 1031, "end_step": 1160, "id": "cc24a53a-ac40-4e38-83a7-cd0b1e018ef2"}, {"label": "subtasks", "start_step": 1042, "end_step": 1087, "id": "reasoning-language-00016", "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 white hexagonal block at the lower left of the table."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00017", "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 at the lower left of the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00018", "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 at the lower left of the table without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00019", "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 with fingers closing around it."}, {"label": "goal", "start_step": 1161, "end_step": 1375, "id": "cc1f52a8-4081-4ed9-a505-870d42659ce7"}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00020", "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 black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00022", "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 front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1376, "end_step": 1510, "id": "f6573844-859b-4e24-a96c-1a2c8787cbc0"}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00025", "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, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1511, "end_step": 1875, "id": "c71f4d31-913b-4ed3-aed4-5dd9109c4f57"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal part vertically up from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white hexagonal part leftward and upward to the position above the front middle purple rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front middle purple rod and moves it downward to fit the part onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "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 white hexagonal part fitted on the front middle purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers, fully separating from the part."}, {"label": "subtasks", "start_step": 1748, "end_step": 1874, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: retreat: Right hand retreats rightward and upward away from the front middle purple rod while remaining empty."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple peg of the pegboard."}, {"label": "goal", "start_step": 1876, "end_step": 1950, "id": "e4e2374e-264d-4974-a78a-f2c8c8c1ac4e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00033", "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 cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00034", "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 table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1951, "end_step": 2105, "id": "7edcee6b-edc3-449e-a579-7cbc49de3fa9"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00035", "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 from the table surface and transports it to the upper position of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2099, "id": "reasoning-language-00036", "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 onto the target peg of the wooden base, moving the block downward to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the block tower, with fingers opening."}, {"label": "goal", "start_step": 2106, "end_step": 2265, "id": "3bc99145-9996-4eee-977e-8613cff4f8cd"}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00038", "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 with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00039", "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, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00040", "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 table without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the right side of the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 2266, "end_step": 2405, "id": "33d1e1fe-9844-4193-b37b-dd6a5ce33e22"}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00042", "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 cylindrical part off the table and moves it toward the wooden peg base at the center of the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple peg on the wooden base and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base with fingers opening."}, {"label": "goal", "start_step": 2406, "end_step": 2520, "id": "c1f49d01-fa1c-4605-978d-bae4010927fd"}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2460, "end_step": 2534, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2521, "end_step": 2685, "id": "7c79be03-cfa9-46a5-8deb-97c18897c32f"}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00048", "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 cylinder off the table and transports it leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00049", "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 hollow cylinder with the purple rod and nests the cylinder onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand slides the white hollow cylinder downward along the purple rod and places it on the wooden base plate."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hollow cylinder by opening its fingers, fully separating from the cylinder."}, {"label": "goal", "start_step": 2686, "end_step": 2760, "id": "aa102351-52fb-4fbf-91ec-dace54c85fc7"}, {"label": "subtasks", "start_step": 2708, "end_step": 2737, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal object on the table, keeping empty."}, {"label": "subtasks", "start_step": 2738, "end_step": 2797, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing around the object to form a stable grip."}, {"label": "goal", "start_step": 2761, "end_step": 2915, "id": "e62477d4-2aab-4699-8d65-43a55a0296a0"}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00054", "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 toward the purple peg on the central wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2879, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block by opening its fingers and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 2910, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top of the rightmost white cylinder on the wooden tray at the center of the table."}, {"label": "goal", "start_step": 2916, "end_step": 3010, "id": "b1e18892-5089-4c6d-aa66-55fa52caf717"}, {"label": "subtasks", "start_step": 2932, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the green cube on the lower right area of the table, moving downward with empty hand."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cube on the lower right area of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cube on the lower right area of the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3029, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green ring-shaped object on the right ground, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3011, "end_step": 3175, "id": "5d84a28b-50ae-4831-b22d-5acc198ef5e6"}, {"label": "subtasks", "start_step": 3030, "end_step": 3067, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green ring-shaped object from the ground and transports it toward the white bottle on the right of the wooden tray."}, {"label": "subtasks", "start_step": 3068, "end_step": 3179, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green ring-shaped object with the purple-topped white bottle on the wooden tray and fits it onto the bottle."}, {"label": "home", "start_step": 3225, "end_step": 3252, "id": "sA8lDYlYG1u-QTnkHIpqt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and returns to the left home position. | Right hand: reach: Right hand moves leftward and upward toward the white cylinder on the rightmost front purple rod."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 upward toward the white cylinder on the rightmost front purple rod."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: other:dislodge_white_cylinder_from_rod: Right hand dislodges the white cylinder from the rightmost front purple rod, making the cylinder fall off."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "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 left front area of the table."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the left front area of the table."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00006", "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 surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "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 black table surface, with fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the purple peg on the wooden base by adjusting and pressing it down, and releases the block after assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00010", "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 black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00012", "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 piece off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00013", "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 piece with the purple peg and fits the piece onto the peg."}, {"label": "subtasks", "start_step": 772, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "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 middle purple peg and releases the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1087, "id": "reasoning-language-00016", "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 white hexagonal block at the lower left of the table."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00017", "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 at the lower left of the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00018", "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 at the lower left of the table without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00019", "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 with fingers closing around it."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00020", "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 black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00022", "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 front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00025", "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, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal part vertically up from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white hexagonal part leftward and upward to the position above the front middle purple rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front middle purple rod and moves it downward to fit the part onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "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 white hexagonal part fitted on the front middle purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers, fully separating from the part."}, {"label": "subtasks", "start_step": 1748, "end_step": 1874, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: retreat: Right hand retreats rightward and upward away from the front middle purple rod while remaining empty."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00033", "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 cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00034", "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 table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00035", "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 from the table surface and transports it to the upper position of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2099, "id": "reasoning-language-00036", "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 onto the target peg of the wooden base, moving the block downward to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the block tower, with fingers opening."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00038", "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 with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00039", "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, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00040", "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 table without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the right side of the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00042", "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 cylindrical part off the table and moves it toward the wooden peg base at the center of the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple peg on the wooden base and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base with fingers opening."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2460, "end_step": 2534, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00048", "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 cylinder off the table and transports it leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00049", "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 hollow cylinder with the purple rod and nests the cylinder onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand slides the white hollow cylinder downward along the purple rod and places it on the wooden base plate."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hollow cylinder by opening its fingers, fully separating from the cylinder."}, {"label": "subtasks", "start_step": 2708, "end_step": 2737, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal object on the table, keeping empty."}, {"label": "subtasks", "start_step": 2738, "end_step": 2797, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00054", "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 toward the purple peg on the central wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2879, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block by opening its fingers and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 2910, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top of the rightmost white cylinder on the wooden tray at the center of the table."}, {"label": "subtasks", "start_step": 2932, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the green cube on the lower right area of the table, moving downward with empty hand."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cube on the lower right area of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cube on the lower right area of the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3029, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green ring-shaped object on the right ground, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3030, "end_step": 3067, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green ring-shaped object from the ground and transports it toward the white bottle on the right of the wooden tray."}, {"label": "subtasks", "start_step": 3068, "end_step": 3179, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green ring-shaped object with the purple-topped white bottle on the wooden tray and fits it onto the bottle."}], "episode_index": 1}
+{"source_uid": "59d6689facf5eae2", "num_frames": 2863, "annotation_status": "loaded", "has_annotation": true, "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 operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "79595bf9-aaa9-4f04-8e56-b08608f45f98"}, {"label": "valid", "start_step": 0, "end_step": 2833, "id": "LKg_kLVfJFvTytCsKaSqB"}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hexagonal block on the table surface."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any movement."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 206, "end_step": 480, "id": "a6b06905-d29b-482b-97bf-98b02ced9980"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press_release: Right hand presses the green block down along the purple rod to secure it, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 481, "end_step": 593, "id": "b04988fe-fcdc-406d-b472-3d14f8e87684"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "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: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 594, "end_step": 843, "id": "b1339986-4497-444f-9e00-521ac6c2e7c9"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 839, "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: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "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 ring onto the peg of the wooden base."}, {"label": "goal", "start_step": 844, "end_step": 948, "id": "1bcde11d-49fa-408b-94df-117d54a37e02"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "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 downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 adjusts fingers to form stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 949, "end_step": 1127, "id": "1f07c5bb-de7a-4e06-9bef-ac4523a264a1"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down to fully fit onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "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 white cylindrical object on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 1128, "end_step": 1279, "id": "c711f6a1-d42c-47eb-ac25-14809ac22826"}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "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 closes its fingers around the white cylindrical object, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical object on the table without moving."}, {"label": "subtasks", "start_step": 1275, "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: grasp: Right hand grasps the white hexagonal object on the black tabletop, fingers close to form a stable grip."}, {"label": "goal", "start_step": 1280, "end_step": 1419, "id": "8f668c66-453a-4232-808f-6a6c8913f04d"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1420, "end_step": 1504, "id": "96dadaef-62d8-4795-a982-5b26fdb0570e"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1505, "end_step": 1639, "id": "a5944a61-b2d9-418b-ba4f-37404d4daa43"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the purple peg, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, fingers open and separate from the block."}, {"label": "goal", "start_step": 1640, "end_step": 1764, "id": "22c0b262-4a35-4c42-befd-a963664692e9"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table near the green square block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1765, "end_step": 1904, "id": "a60a52f4-f780-48c5-8a92-94674a8693b7"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white cylinder off the black tabletop."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00034", "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 cylinder towards the wooden peg board."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00035", "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 cylinder onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00036", "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 white cylinder, separating from the object."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical object on the wooden base, fingers open to separate from the object."}, {"label": "goal", "start_step": 1905, "end_step": 2009, "id": "72b595d2-4d95-43d7-b587-c829bcaf8941"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical object placed on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical object on the black table surface, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylinder placed on the black table."}, {"label": "goal", "start_step": 2010, "end_step": 2254, "id": "7d3dad54-f4f2-4d2c-b1c1-6d8cabda31b9"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "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 table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "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 and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylinder on the purple rod without moving."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder from its grip."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block on the rightmost bottom position of the wooden tray."}, {"label": "goal", "start_step": 2255, "end_step": 2354, "id": "f9f113e8-d6a1-4a4c-8d49-3a5358939d83"}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2377, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 2355, "end_step": 2484, "id": "48e1a378-08de-45ad-b4ea-0f98039a8ffb"}, {"label": "subtasks", "start_step": 2378, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2504, "id": "reasoning-language-00051", "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 tray."}, {"label": "goal", "start_step": 2485, "end_step": 2594, "id": "05690ee3-fe50-4310-8e0f-c4a0eb512134"}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the lower right part of the table."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00053", "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 green cubic block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2595, "end_step": 2617, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green block on the black table surface."}, {"label": "goal", "start_step": 2595, "end_step": 2809, "id": "451348d1-ac06-49be-bfd1-b56dc4d8c5c9"}, {"label": "subtasks", "start_step": 2618, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the wooden tray with white cylinders."}, {"label": "subtasks", "start_step": 2662, "end_step": 2811, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white cylinder and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 2812, "end_step": 2819, "id": "reasoning-language-00057", "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 fitted on the white cylinder."}, {"label": "home", "start_step": 2834, "end_step": 2862, "id": "jdm57OEDMfIvhKWIRAkcT"}], "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 operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hexagonal block on the table surface."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any movement."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black 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 side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press_release: Right hand presses the green block down along the purple rod to secure it, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "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: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 839, "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: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "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 ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "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 downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 adjusts fingers to form stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down to fully fit onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "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 white cylindrical object on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "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 closes its fingers around the white cylindrical object, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical object on the table without moving."}, {"label": "subtasks", "start_step": 1275, "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: grasp: Right hand grasps the white hexagonal object on the black tabletop, fingers close to form a stable grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the purple peg, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table near the green square block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white cylinder off the black tabletop."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00034", "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 cylinder towards the wooden peg board."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00035", "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 cylinder onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00036", "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 white cylinder, separating from the object."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical object on the wooden base, fingers open to separate from the object."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical object placed on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical object on the black table surface, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylinder placed on the black table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "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 table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "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 and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylinder on the purple rod without moving."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder from its grip."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block on the rightmost bottom position of the wooden tray."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2377, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2504, "id": "reasoning-language-00051", "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 tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the lower right part of the table."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00053", "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 green cubic block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2595, "end_step": 2617, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 2618, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the wooden tray with white cylinders."}, {"label": "subtasks", "start_step": 2662, "end_step": 2811, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white cylinder and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 2812, "end_step": 2819, "id": "reasoning-language-00057", "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 fitted on the white cylinder."}], "episode_index": 2}
+{"source_uid": "0dfcdfb058695701", "num_frames": 3018, "annotation_status": "loaded", "has_annotation": true, "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: return_home: Left hand moves inward and upward from the left outer initial position to the left front natural resting position, remaining empty throughout the movement. | Right hand: reach: Right hand moves forward and downward from the right outer initial position toward the green hexagonal nut near the left side of the wooden peg assembly, remaining empty with fingers adjusting posture during the movement."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "3e79e3f4-1ac7-4bd4-9c60-6df543591117"}, {"label": "valid", "start_step": 0, "end_step": 2989, "id": "ta8kw7cV0Yg1XMiFQotwZ"}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves forward and downward from the right outer initial position toward the green hexagonal nut near the left side of the wooden peg assembly, remaining empty with fingers adjusting posture during the movement."}, {"label": "subtasks", "start_step": 128, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut on the black table surface, closes fingers around the nut, and makes slight adjustments of fingers and wrist to establish grasp, with the nut remaining supported by the table."}, {"label": "goal", "start_step": 206, "end_step": 650, "id": "8eedab37-3d3c-4c8e-8fca-76ec5caa41c9"}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the black table surface and moves it upward to position it above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 292, "end_step": 584, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate_release: Right hand makes small rotational and positional adjustments to the held green hexagonal block, aligns its central hole with the target purple peg, slides the block down onto the peg, and opens fingers to release the block seated on the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal block resting on the black table surface, approaching the block without establishing a grip."}, {"label": "subtasks", "start_step": 645, "end_step": 727, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to securely grasp the white hexagonal block resting on the dark table surface near loose green blocks."}, {"label": "goal", "start_step": 651, "end_step": 715, "id": "85f5a565-e223-4dd3-9864-ff4f59b33b42"}, {"label": "goal", "start_step": 716, "end_step": 915, "id": "5d35225d-3fdd-4ff9-9cc8-13a27af971ab"}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and transports it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 907, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden rack without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the white hexagonal block positioned on the purple rod."}, {"label": "goal", "start_step": 916, "end_step": 1040, "id": "745c192e-9e6a-4dad-b8d2-e4913e23b0aa"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward, empty, toward the front-left white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 975, "end_step": 1064, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the black table surface, adjusting finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1041, "end_step": 1220, "id": "42159025-5444-4e42-9e5a-e667ee5ecd69"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped hexagonal block off the black table surface, moving it upward and toward the light purple peg on the light brown wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1214, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held hexagonal block with the light purple peg on the wooden rack, lowering the block to fit onto the peg with small wrist rotations and finger adjustments for proper alignment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut placed in front of the wooden pegboard, remaining out of contact with the nut throughout the movement."}, {"label": "goal", "start_step": 1221, "end_step": 1315, "id": "664626b9-ac44-4b93-aeec-427a8c36f5d8"}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand contacts the target loose white hexagonal nut, with fingers closing around the nut to adjust and form a stable grip while the nut stays resting on the table surface."}, {"label": "goal", "start_step": 1316, "end_step": 1480, "id": "fff24171-1f80-49bd-95fc-e2371f3a9a6c"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: transport_mate: Right hand carries the white hexagonal block toward the purple peg on the wooden assembly base, aligns the block's hole with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block mounted on the purple peg of the assembly base without any visible movement."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple peg of the wooden stacking stand, releasing the grip to leave the block stably supported on the peg."}, {"label": "goal", "start_step": 1481, "end_step": 1565, "id": "7841545d-fedf-410c-be2b-05a021134183"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface next to the wooden stand, approaching the target block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight adjustments to finger positions to establish grip on the block."}, {"label": "goal", "start_step": 1566, "end_step": 1755, "id": "32c420ff-e832-4f2b-84b0-fca60418941c"}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to mate it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and right-front across the dark table surface to approach the frontmost loose white hexagonal nut, with fingers kept open."}, {"label": "goal", "start_step": 1756, "end_step": 1845, "id": "c4bc18b9-40ca-4c8e-a7b0-0064a68d3113"}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the frontmost white hexagonal nut, closes fingers around the nut, and makes slight finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface near the green block without moving."}, {"label": "goal", "start_step": 1846, "end_step": 2080, "id": "6d1c906a-0e7e-4942-9077-06b2ccfa304f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the block stand and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 2069, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the block stand without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to break contact with the top white cylindrical block on the wooden stacked block assembly."}, {"label": "goal", "start_step": 2081, "end_step": 2195, "id": "03d77430-3b88-4ec5-87ff-d5eb1a24cf91"}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty diagonally downward toward the nearest white hexagonal block resting on the dark table next to the wooden base, until a fingertip lightly touches the top surface of the block."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its wrist and finger positions, closing fingers around the nearest white hexagonal block on the table to form a grip on the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves upward toward the white cylinder on the purple rod placed on the wooden tray, staying empty before contacting the target cylinder."}, {"label": "goal", "start_step": 2196, "end_step": 2305, "id": "897e8a03-abbe-4e6a-a6b5-b1213435c07f"}, {"label": "subtasks", "start_step": 2228, "end_step": 2271, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the target white cylinder on the purple rod, with minor finger adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white cylinder on the purple rod on the wooden tray without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: press: Right hand presses the top white block on the purple rod of the wooden block stand downward with its index finger."}, {"label": "goal", "start_step": 2306, "end_step": 2405, "id": "01729f4a-2faa-4c34-8146-b598305f8ab0"}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves toward the loose white hexagonal block on the dark table surface, with fingers extended."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the dark table surface, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white block and lifts it upward from the dark gray table surface until the block is fully separated from the table."}, {"label": "goal", "start_step": 2406, "end_step": 2730, "id": "95f092c7-e53f-4592-87f4-ac4c3f85fa6d"}, {"label": "subtasks", "start_step": 2422, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white block toward the purple vertical rod on the wooden block tray, moving horizontally to position the block directly above the rod's top end."}, {"label": "subtasks", "start_step": 2468, "end_step": 2721, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white block with the purple rod, moving the block downward along the rod to nest it onto the rod until the block rests stably on the lower white block on the tray."}, {"label": "subtasks", "start_step": 2722, "end_step": 2729, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the nested white block, separating its fingers from the block surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2767, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the area near the stacked white-green bottles toward the green holed cube on the dark table surface, remaining empty and not yet contacting the cube."}, {"label": "goal", "start_step": 2731, "end_step": 2825, "id": "641511f5-efbf-400a-93a0-6f4ee655fada"}, {"label": "subtasks", "start_step": 2768, "end_step": 2841, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the green holed cube on the table, with fingers adjusting and closing around the cube to form a grasp, while the cube remains resting on the table surface."}, {"label": "goal", "start_step": 2826, "end_step": 2960, "id": "5b779bac-11cf-4876-83d5-91c03482b8ab"}, {"label": "subtasks", "start_step": 2842, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface, moving the block upward and leftward toward the target position on the wooden tray."}, {"label": "subtasks", "start_step": 2895, "end_step": 2947, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the green block downward to the empty spot on the wooden tray, adjusting the block until it is stably supported by the tray surface."}, {"label": "subtasks", "start_step": 2948, "end_step": 2969, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers gradually to release the green block, separating the hand from the block resting on the tray."}, {"label": "home", "start_step": 2990, "end_step": 3017, "id": "p4LwpdhhkSn4xrOBXKeLY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves inward and upward from the left outer initial position to the left front natural resting position, remaining empty throughout the movement. | Right hand: reach: Right hand moves forward and downward from the right outer initial position toward the green hexagonal nut near the left side of the wooden peg assembly, remaining empty with fingers adjusting posture during the movement."}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves forward and downward from the right outer initial position toward the green hexagonal nut near the left side of the wooden peg assembly, remaining empty with fingers adjusting posture during the movement."}, {"label": "subtasks", "start_step": 128, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut on the black table surface, closes fingers around the nut, and makes slight adjustments of fingers and wrist to establish grasp, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the black table surface and moves it upward to position it above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 292, "end_step": 584, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate_release: Right hand makes small rotational and positional adjustments to the held green hexagonal block, aligns its central hole with the target purple peg, slides the block down onto the peg, and opens fingers to release the block seated on the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal block resting on the black table surface, approaching the block without establishing a grip."}, {"label": "subtasks", "start_step": 645, "end_step": 727, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to securely grasp the white hexagonal block resting on the dark table surface near loose green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and transports it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 907, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden rack without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward, empty, toward the front-left white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 975, "end_step": 1064, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the black table surface, adjusting finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped hexagonal block off the black table surface, moving it upward and toward the light purple peg on the light brown wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1214, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held hexagonal block with the light purple peg on the wooden rack, lowering the block to fit onto the peg with small wrist rotations and finger adjustments for proper alignment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut placed in front of the wooden pegboard, remaining out of contact with the nut throughout the movement."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand contacts the target loose white hexagonal nut, with fingers closing around the nut to adjust and form a stable grip while the nut stays resting on the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: transport_mate: Right hand carries the white hexagonal block toward the purple peg on the wooden assembly base, aligns the block's hole with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block mounted on the purple peg of the assembly base without any visible movement."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple peg of the wooden stacking stand, releasing the grip to leave the block stably supported on the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface next to the wooden stand, approaching the target block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight adjustments to finger positions to establish grip on the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to mate it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and right-front across the dark table surface to approach the frontmost loose white hexagonal nut, with fingers kept open."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the frontmost white hexagonal nut, closes fingers around the nut, and makes slight finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface near the green block without moving."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the block stand and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 2069, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the block stand without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to break contact with the top white cylindrical block on the wooden stacked block assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty diagonally downward toward the nearest white hexagonal block resting on the dark table next to the wooden base, until a fingertip lightly touches the top surface of the block."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its wrist and finger positions, closing fingers around the nearest white hexagonal block on the table to form a grip on the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves upward toward the white cylinder on the purple rod placed on the wooden tray, staying empty before contacting the target cylinder."}, {"label": "subtasks", "start_step": 2228, "end_step": 2271, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the target white cylinder on the purple rod, with minor finger adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white cylinder on the purple rod on the wooden tray without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: press: Right hand presses the top white block on the purple rod of the wooden block stand downward with its index finger."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves toward the loose white hexagonal block on the dark table surface, with fingers extended."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the dark table surface, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white block and lifts it upward from the dark gray table surface until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white block toward the purple vertical rod on the wooden block tray, moving horizontally to position the block directly above the rod's top end."}, {"label": "subtasks", "start_step": 2468, "end_step": 2721, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white block with the purple rod, moving the block downward along the rod to nest it onto the rod until the block rests stably on the lower white block on the tray."}, {"label": "subtasks", "start_step": 2722, "end_step": 2729, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the nested white block, separating its fingers from the block surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2767, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the area near the stacked white-green bottles toward the green holed cube on the dark table surface, remaining empty and not yet contacting the cube."}, {"label": "subtasks", "start_step": 2768, "end_step": 2841, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the green holed cube on the table, with fingers adjusting and closing around the cube to form a grasp, while the cube remains resting on the table surface."}, {"label": "subtasks", "start_step": 2842, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface, moving the block upward and leftward toward the target position on the wooden tray."}, {"label": "subtasks", "start_step": 2895, "end_step": 2947, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the green block downward to the empty spot on the wooden tray, adjusting the block until it is stably supported by the tray surface."}, {"label": "subtasks", "start_step": 2948, "end_step": 2969, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers gradually to release the green block, separating the hand from the block resting on the tray."}], "episode_index": 3}
+{"source_uid": "bf1a038c35058143", "num_frames": 2476, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward and opens its fingers to adjust posture at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the left of the wooden base, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "3d020658-f948-43d5-92a8-c3db3c210f97"}, {"label": "valid", "start_step": 0, "end_step": 2446, "id": "aleTycKholBVSrIp9b1g_"}, {"label": "subtasks", "start_step": 30, "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: reach: Right hand moves leftward toward the green hexagonal block on the left of the wooden base, with fingers slightly open."}, {"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: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight grip adjustment."}, {"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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 196, "end_step": 335, "id": "4efc9564-ff53-4f57-9bd3-76191fc1e388"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table while moving it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "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 and inserts the green hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 336, "end_step": 440, "id": "ab14655b-d415-47a9-9b78-88ec93f8bb54"}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left 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": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 441, "end_step": 715, "id": "0487c841-eb95-4ad7-b6c0-473e9470240e"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it onto the peg until it fits in place."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost 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 without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base, with fingers opening to release the grip."}, {"label": "goal", "start_step": 716, "end_step": 825, "id": "15cf68e0-1566-41ba-be61-a4ce473c2fd7"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward to reach toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left area of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 826, "end_step": 1020, "id": "78c63cf7-0ba8-4d48-94ac-e5f727ece4d2"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hollow hexagonal part off the table and transports it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal part with the purple peg on the wooden base, inserting the part down onto the peg."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal part on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part, with fingers opening and moving slightly upward away from the part."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "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 from the upper peg building block area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1021, "end_step": 1135, "id": "1bfa9330-e554-4294-9e7b-14c608178df9"}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1136, "end_step": 1240, "id": "be50323a-0f62-4b53-9c8d-439e9d259a43"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple peg of the block set."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg by lowering it to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "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 building block on the peg board with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1241, "end_step": 1320, "id": "4d07dae5-7dba-4eaf-a6b7-96ee9f9d97f6"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes and adjusts fingers to grasp the green hexagonal block on the table, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1321, "end_step": 1420, "id": "04e94d6f-1dd6-4edb-8cb5-19fe63cb55df"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1421, "end_step": 1530, "id": "b1e2e454-bd7b-4d67-93db-643aabd4ba12"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1531, "end_step": 1690, "id": "ec35fcd4-a684-4f67-a025-eafc88f54db8"}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the ground and moves it upward and leftward toward the central peg assembly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece onto the vertical peg on the green block of the central peg assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece on the peg of the central peg assembly without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the stacked block set, with fingers opening."}, {"label": "goal", "start_step": 1691, "end_step": 1805, "id": "c3d0abcb-3796-425c-b987-30fc0f3f89a2"}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the small white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small white hexagonal block on the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "goal", "start_step": 1806, "end_step": 1980, "id": "5ac9eb5d-bd1e-4a0a-9c73-6b0dc6c78ba2"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward and leftward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "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 with the purple vertical rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "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 cylindrical block on the purple vertical rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1981, "end_step": 2055, "id": "6ab33a36-1717-49a5-97f1-15c5502e08ef"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "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 cubic block on the right side of the table without moving."}, {"label": "goal", "start_step": 2056, "end_step": 2185, "id": "d2750d8c-0a82-4b29-b5bf-f47630d24675"}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the front-right white cylinder on the wooden tray and releases its grip on the rod."}, {"label": "goal", "start_step": 2186, "end_step": 2280, "id": "99ce0da9-4213-4ad9-bbb2-523837608511"}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2281, "end_step": 2415, "id": "72c878f1-7d62-466c-9705-6e6f25c11d29"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cap off the table and transports it toward the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cap with the purple-topped bottle on the wooden tray, aligning and pressing the cap onto the bottle."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00062", "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 cap by opening its fingers and retreats slightly away from the bottle."}, {"label": "home", "start_step": 2447, "end_step": 2475, "id": "0rDnYNn4mcH2sMCfI51hW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward and opens its fingers to adjust posture at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the left of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 30, "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: reach: Right hand moves leftward toward the green hexagonal block on the left of the wooden base, with fingers slightly open."}, {"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: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight grip adjustment."}, {"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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table while moving it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "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 and inserts the green hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left 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": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it onto the peg until it fits in place."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost 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 without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward to reach toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left area of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hollow hexagonal part off the table and transports it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal part with the purple peg on the wooden base, inserting the part down onto the peg."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal part on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part, with fingers opening and moving slightly upward away from the part."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "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 from the upper peg building block area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple peg of the block set."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg by lowering it to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "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 building block on the peg board with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes and adjusts fingers to grasp the green hexagonal block on the table, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the ground and moves it upward and leftward toward the central peg assembly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece onto the vertical peg on the green block of the central peg assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece on the peg of the central peg assembly without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the stacked block set, with fingers opening."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the small white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small white hexagonal block on the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward and leftward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "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 with the purple vertical rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "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 cylindrical block on the purple vertical rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "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 cubic block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the front-right white cylinder on the wooden tray and releases its grip on the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cap off the table and transports it toward the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cap with the purple-topped bottle on the wooden tray, aligning and pressing the cap onto the bottle."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00062", "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 cap by opening its fingers and retreats slightly away from the bottle."}], "episode_index": 4}
+{"source_uid": "80176d6033527ae6", "num_frames": 2390, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 190, "id": "55c0a852-7f48-45ac-a56b-cdb252306cbe"}, {"label": "valid", "start_step": 0, "end_step": 2361, "id": "UBuxKf8j35TLIJPJ5Y5UR"}, {"label": "subtasks", "start_step": 90, "end_step": 179, "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 approaches and grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it above the target purple rod on the wooden rack."}, {"label": "goal", "start_step": 191, "end_step": 380, "id": "db728df4-2980-43e2-adb0-91c21b61fb2d"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple rod."}, {"label": "subtasks", "start_step": 248, "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: place: Right hand places the green block down along the purple rod until it nearly touches the wooden rack base."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00006", "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 to secure it at the bottom of the purple rod."}, {"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 operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 381, "end_step": 470, "id": "9f15a417-9a38-4734-b76f-e06a4130def2"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "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 downward toward the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "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 closes its fingers to adjust and grasp the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 471, "end_step": 640, "id": "c3988a4a-e1cc-4a71-a878-59589e452ffc"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "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_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it down onto the post."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 641, "end_step": 750, "id": "1926ad7e-24d8-45b9-aeba-c06f0976f672"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "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 adjusts fingers to form a stable grasp on the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 751, "end_step": 910, "id": "5d02f7b0-7dfe-4d66-b5a2-fe88788b0879"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 911, "end_step": 1000, "id": "4419545e-799c-4db2-87fc-9530beebf5a7"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table in front of the wooden base."}, {"label": "goal", "start_step": 1001, "end_step": 1135, "id": "29a1e56c-e4c6-435d-b2f9-5ef33a5b9515"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1136, "end_step": 1245, "id": "7e3ed34d-81d8-4726-9db4-06d9beffddd7"}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green square block on the black table surface."}, {"label": "goal", "start_step": 1246, "end_step": 1360, "id": "991a8330-46ae-4f21-86b2-6f7a3a8303bf"}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1361, "end_step": 1470, "id": "32ee8834-b8aa-4afc-b6cd-ce98308384c4"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "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 adjusts its fingers to grasp the white ring on the black table surface."}, {"label": "goal", "start_step": 1471, "end_step": 1620, "id": "258c69f9-784b-4709-84c4-19cb9f79338b"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats upwards from the peg."}, {"label": "goal", "start_step": 1621, "end_step": 1705, "id": "1e6a5284-687f-4f82-82d3-c3d16bd1c3c8"}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylinder on the black tabletop with fingers closing around it."}, {"label": "goal", "start_step": 1706, "end_step": 1855, "id": "f03d6f10-9b08-4f18-a782-c4182713d6da"}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod and releases its grip on the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1856, "end_step": 1940, "id": "a668e777-9788-4914-8588-5b32d37871aa"}, {"label": "subtasks", "start_step": 1898, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1941, "end_step": 2060, "id": "c968cc94-0392-4f69-8ca2-c03933ac5a1b"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylinder with purple top on the wooden tray."}, {"label": "goal", "start_step": 2061, "end_step": 2170, "id": "73868da5-6241-4d72-93b5-7fe1a7477285"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green square block placed on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2171, "end_step": 2345, "id": "812cf697-9de1-4436-a622-5eb7ed27d67a"}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 2228, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00052", "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 its grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray."}, {"label": "home", "start_step": 2362, "end_step": 2389, "id": "3o-0rEjm9FsYyiq2jnanU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "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 approaches and grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple rod."}, {"label": "subtasks", "start_step": 248, "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: place: Right hand places the green block down along the purple rod until it nearly touches the wooden rack base."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00006", "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 to secure it at the bottom of the purple rod."}, {"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 operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "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 downward toward the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "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 closes its fingers to adjust and grasp the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "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_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it down onto the post."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "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 adjusts fingers to form a stable grasp on the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "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 adjusts its fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats upwards from the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylinder on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod and releases its grip on the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylinder with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green square block placed on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 2228, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00052", "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 its grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray."}], "episode_index": 5}
+{"source_uid": "c53ab591430487af", "num_frames": 2759, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "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 hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "c246762b-2680-4916-9677-b272b9046845"}, {"label": "valid", "start_step": 0, "end_step": 2730, "id": "HY9FDuXyYTobWi5EYWBXs"}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and carries it leftward toward the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod of the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table beside the rack."}, {"label": "goal", "start_step": 226, "end_step": 465, "id": "1af92ac4-71e0-4a81-8180-960f772909b8"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down to the base of the leftmost purple post."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches upward and grasps the white hexagonal block on the leftmost purple post."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward along the leftmost purple post."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "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 back onto the leftmost purple post."}, {"label": "subtasks", "start_step": 442, "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 leftmost purple post without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to break contact."}, {"label": "goal", "start_step": 466, "end_step": 565, "id": "280bb175-d9b3-4dbf-a4a3-c99746dee6fa"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the lower left area of the table surface, moving downward from the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 566, "end_step": 740, "id": "07cdda37-613a-45d6-a31e-7ca062456f90"}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the peg board on the middle-right of the table."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the green base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the peg, with fingers opening and moving away from the nut."}, {"label": "goal", "start_step": 741, "end_step": 855, "id": "3adbcabf-f0dc-4513-b4a1-23318ad30de1"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block at the lower left of the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "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 black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 856, "end_step": 1110, "id": "d432793a-afeb-4a0e-9135-1f5c217bd783"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front peg of the wooden rack, aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 922, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats to the right away from the wooden rack, remaining empty."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the table, with fingers open."}, {"label": "goal", "start_step": 1111, "end_step": 1225, "id": "055c7fdd-3227-4a6d-9850-22417264c313"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip while the object stays on the table."}, {"label": "goal", "start_step": 1226, "end_step": 1430, "id": "01fe4b88-3ed8-4a87-8554-4210691a2e6a"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple vertical peg by aligning its hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1431, "end_step": 1525, "id": "7b054768-3299-4dfb-8187-9ef88b35cc0c"}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, approaching the target without establishing a stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "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 hexagonal block on the black table surface, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "goal", "start_step": 1526, "end_step": 1655, "id": "edf4dac9-da81-47fb-85d9-6c0b73afdb85"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and lowers it to fit onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "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 purple rod without moving."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "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 green block on the wooden base peg downward along the peg axis."}, {"label": "goal", "start_step": 1656, "end_step": 1780, "id": "60e78f6f-d8d0-4d35-b360-21058e40ccd9"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1799, "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 dark table surface."}, {"label": "goal", "start_step": 1781, "end_step": 1975, "id": "7f0cab7a-f24a-4732-b551-c9a6cedfa87b"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "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 table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1941, "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 cylindrical block with the purple rod and inserts it downwards onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upwards away from the purple rod after releasing the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "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 position next to the purple rod on the wooden base toward the white hexagonal block on the table, without touching the block."}, {"label": "goal", "start_step": 1976, "end_step": 2050, "id": "521eaf23-44be-472c-b8e8-efa0734fb0f5"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "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 upper white hexagonal block on the right table surface, closing its fingers to form a stable grip."}, {"label": "goal", "start_step": 2051, "end_step": 2250, "id": "885cd62a-8b15-4418-b8a8-d9753876a441"}, {"label": "subtasks", "start_step": 2078, "end_step": 2137, "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 and moves the white hexagonal block upward and leftward to the area above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2211, "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 fits the white hexagonal block onto the purple vertical rod, lowering it until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "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 hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the lower white hexagonal block on the right table surface and makes initial contact to start grasping."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "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 its fingers to grasp the white cubic block resting on the right side of the table."}, {"label": "goal", "start_step": 2251, "end_step": 2305, "id": "5879587e-4d70-4bdf-b3b8-bd612137e972"}, {"label": "goal", "start_step": 2306, "end_step": 2465, "id": "089d195c-63d7-4ee3-a5aa-6761a3abe1e4"}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and moves the white cubic block upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand assembles the white cubic block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the purple-capped white cylinder on the wooden tray."}, {"label": "goal", "start_step": 2466, "end_step": 2555, "id": "06a0505e-af03-4299-9637-c5015becacfd"}, {"label": "subtasks", "start_step": 2482, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 2512, "end_step": 2571, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2556, "end_step": 2700, "id": "a39a3b1c-67d9-413c-b329-c4d02968c1e4"}, {"label": "subtasks", "start_step": 2572, "end_step": 2617, "id": "reasoning-language-00064", "text": "Left 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 surface and transports it towards the white bottle rack on the table."}, {"label": "subtasks", "start_step": 2618, "end_step": 2691, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green block downward and mates it onto the top of the front-right white bottle on the rack."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00066", "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 on the bottle top and retreats slightly away from the rack."}, {"label": "home", "start_step": 2731, "end_step": 2758, "id": "lcfxuo9N-SEG5eVWdZKnw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "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 hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and carries it leftward toward the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod of the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table beside the rack."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down to the base of the leftmost purple post."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches upward and grasps the white hexagonal block on the leftmost purple post."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward along the leftmost purple post."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "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 back onto the leftmost purple post."}, {"label": "subtasks", "start_step": 442, "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 leftmost purple post without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to break contact."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the lower left area of the table surface, moving downward from the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the peg board on the middle-right of the table."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the green base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the peg, with fingers opening and moving away from the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block at the lower left of the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "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 black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front peg of the wooden rack, aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 922, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats to the right away from the wooden rack, remaining empty."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the table, with fingers open."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip while the object stays on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple vertical peg by aligning its hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, approaching the target without establishing a stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "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 hexagonal block on the black table surface, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and lowers it to fit onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "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 purple rod without moving."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "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 green block on the wooden base peg downward along the peg axis."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1799, "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 dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "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 table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1941, "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 cylindrical block with the purple rod and inserts it downwards onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upwards away from the purple rod after releasing the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "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 position next to the purple rod on the wooden base toward the white hexagonal block on the table, without touching the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "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 upper white hexagonal block on the right table surface, closing its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2137, "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 and moves the white hexagonal block upward and leftward to the area above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2211, "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 fits the white hexagonal block onto the purple vertical rod, lowering it until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "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 hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the lower white hexagonal block on the right table surface and makes initial contact to start grasping."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "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 its fingers to grasp the white cubic block resting on the right side of the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and moves the white cubic block upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand assembles the white cubic block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the purple-capped white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2482, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 2512, "end_step": 2571, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2617, "id": "reasoning-language-00064", "text": "Left 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 surface and transports it towards the white bottle rack on the table."}, {"label": "subtasks", "start_step": 2618, "end_step": 2691, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green block downward and mates it onto the top of the front-right white bottle on the rack."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00066", "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 on the bottle top and retreats slightly away from the rack."}], "episode_index": 6}
+{"source_uid": "70ac78edae8af9d2", "num_frames": 2788, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block closest to the wooden assembly base with fingers held open."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "d6abbb2f-1f64-4357-b8f7-60815e6bdde2"}, {"label": "valid", "start_step": 0, "end_step": 2758, "id": "kiOUSymr31f3lLFiu5iWi"}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand or the gripped block."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 201, "end_step": 335, "id": "f2513c8f-e200-4430-87f2-03568c4262ab"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg against the wooden base with no observable movement."}, {"label": "goal", "start_step": 336, "end_step": 475, "id": "d6363fd3-3ca9-4fa9-bd6b-3fbd6439c7cd"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block base toward the white hexagonal nut on the table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grasp around the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 476, "end_step": 615, "id": "7afe444d-2b77-4799-b95d-39067c0c560b"}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand moves the grasped white hexagonal nut upward off the black table surface toward the purple vertical pegs on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand makes small positional and orientational adjustments to align the central hole of the white hexagonal nut with the target purple peg on the assembly."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the aligned white hexagonal nut onto the top of the stacked parts on the purple peg until the nut is stably supported by the piece below it."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the position near the wooden block assembly toward the white hexagonal nut on the black table surface, with fingers extended."}, {"label": "goal", "start_step": 616, "end_step": 730, "id": "f3c7ae4c-70cc-4f97-86be-c530d0151d24"}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions slightly to form a grip."}, {"label": "goal", "start_step": 731, "end_step": 905, "id": "1e83b525-bca0-4712-95d3-d904eeaf5c54"}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple peg and moves the nut downward to fit onto the peg."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked block assembly toward the white hexagonal nut positioned directly in front of the wooden base, keeping fingers open as it approaches the target without making contact."}, {"label": "goal", "start_step": 906, "end_step": 1015, "id": "9cb3d466-0dde-42af-85f4-c1f5dfc33640"}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal nut in front of the wooden base, making continuous small adjustments to finger positions and contact points to form a stable grip on the nut."}, {"label": "goal", "start_step": 1016, "end_step": 1175, "id": "2472f292-22c7-4949-8d08-e1ed301c7cea"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal cylinder completely off the dark table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand moves horizontally to carry the lifted white hexagonal cylinder over the purple rod mounted on the wooden block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal cylinder with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal cylinder that is fitted on the purple rod."}, {"label": "goal", "start_step": 1176, "end_step": 1280, "id": "62c934ff-94f3-4fe3-977c-3210c3c5c5e4"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the block assembly area toward the green hexagonal block on the table, remaining empty before contact."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers adjust positions and close to establish grip on the block."}, {"label": "goal", "start_step": 1281, "end_step": 1415, "id": "5d43fb45-9d3b-400f-b5de-a88752041a78"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the black table surface and transports it upward and toward the empty slot on the wooden block assembly tray."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the green hexagonal block into the empty slot on the wooden tray, adjusting its position slightly until the block is stably supported by the tray surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty above the wooden block tray with no obvious displacement."}, {"label": "goal", "start_step": 1416, "end_step": 1525, "id": "530ee3db-3f3e-4613-9778-aa9e665a5cdf"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal nut placed on the dark table surface, staying empty and making no contact with objects during movement."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand gradually closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts the block upward until it is completely raised off the table."}, {"label": "goal", "start_step": 1526, "end_step": 2050, "id": "5cb54158-73c8-43e4-8fa5-987eeff25780"}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the misaligned white hexagonal block, which falls back down to the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions around the white hexagonal block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block upward until it is completely raised off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block fully."}, {"label": "goal", "start_step": 2051, "end_step": 2120, "id": "43085df2-5034-446f-a513-b602c1ec3c1e"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block adjacent to the wooden block tray, with fingers open."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to form contact with the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white cylindrical block resting on the black table surface, lifting the block upward until it is completely lifted off the table surface."}, {"label": "goal", "start_step": 2121, "end_step": 2245, "id": "881b689e-af26-4513-bd3d-5439c8f31061"}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical block, moving it upward and rightward to the position above the target assembly spot on the wooden block base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the held white cylindrical block, aligning it with the target mounting position on the wooden block base for assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place_release: Right hand lowers the aligned white cylindrical block down onto the target mounting position on the wooden base until the block is supported by the base, with fingers opening to release grip on the block."}, {"label": "goal", "start_step": 2246, "end_step": 2330, "id": "19f48373-6e08-4a91-8661-ff1baac47913"}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand releases the purple cylindrical object positioned on the wooden block assembly, opening its fingers to break contact with the object."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward as an empty hand toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2324, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to its finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white hollow cylinder resting on the dark table surface, lifts the cylinder vertically upward until it is completely separated from the table surface."}, {"label": "goal", "start_step": 2331, "end_step": 2460, "id": "014a70c8-6390-4b15-a4a9-045c7d0e401b"}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hollow cylinder horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2451, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the central hollow of the white cylinder with the purple vertical rod, slides the cylinder downward along the rod until it rests stably on the white support block beneath the rod."}, {"label": "subtasks", "start_step": 2452, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release_retreat: Right hand opens its fingers to release the stably seated white cylinder, breaks contact with the cylinder, and moves empty backward away from the wooden block assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the position near the white cylindrical objects, extending fingers to approach the green holed block placed on the dark table surface."}, {"label": "goal", "start_step": 2461, "end_step": 2550, "id": "fb92b60f-45ed-44d0-914f-9093fd8aaba7"}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed block on the table, adjusting finger contact positions to form a grasp on the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block and lifts it upward until the block is completely off the dark table surface."}, {"label": "goal", "start_step": 2551, "end_step": 2720, "id": "baca1f23-738f-402d-9da6-7bc2f4d803df"}, {"label": "subtasks", "start_step": 2572, "end_step": 2617, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and leftward toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the green hexagonal block into the empty slot on the wooden block rack until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2714, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the placed green hexagonal block in the rack slot without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block."}, {"label": "home", "start_step": 2759, "end_step": 2787, "id": "OMrLQX8V7U5Z26heMcQVz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block closest to the wooden assembly base with fingers held open."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand or the gripped block."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg against the wooden base with no observable movement."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block base toward the white hexagonal nut on the table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grasp around the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand moves the grasped white hexagonal nut upward off the black table surface toward the purple vertical pegs on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand makes small positional and orientational adjustments to align the central hole of the white hexagonal nut with the target purple peg on the assembly."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the aligned white hexagonal nut onto the top of the stacked parts on the purple peg until the nut is stably supported by the piece below it."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the position near the wooden block assembly toward the white hexagonal nut on the black table surface, with fingers extended."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions slightly to form a grip."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple peg and moves the nut downward to fit onto the peg."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked block assembly toward the white hexagonal nut positioned directly in front of the wooden base, keeping fingers open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal nut in front of the wooden base, making continuous small adjustments to finger positions and contact points to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal cylinder completely off the dark table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand moves horizontally to carry the lifted white hexagonal cylinder over the purple rod mounted on the wooden block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal cylinder with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal cylinder that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the block assembly area toward the green hexagonal block on the table, remaining empty before contact."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers adjust positions and close to establish grip on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the black table surface and transports it upward and toward the empty slot on the wooden block assembly tray."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the green hexagonal block into the empty slot on the wooden tray, adjusting its position slightly until the block is stably supported by the tray surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty above the wooden block tray with no obvious displacement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal nut placed on the dark table surface, staying empty and making no contact with objects during movement."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand gradually closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts the block upward until it is completely raised off the table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the misaligned white hexagonal block, which falls back down to the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions around the white hexagonal block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block upward until it is completely raised off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block fully."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block adjacent to the wooden block tray, with fingers open."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to form contact with the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white cylindrical block resting on the black table surface, lifting the block upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical block, moving it upward and rightward to the position above the target assembly spot on the wooden block base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the held white cylindrical block, aligning it with the target mounting position on the wooden block base for assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place_release: Right hand lowers the aligned white cylindrical block down onto the target mounting position on the wooden base until the block is supported by the base, with fingers opening to release grip on the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand releases the purple cylindrical object positioned on the wooden block assembly, opening its fingers to break contact with the object."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward as an empty hand toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2324, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to its finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white hollow cylinder resting on the dark table surface, lifts the cylinder vertically upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hollow cylinder horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2451, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the central hollow of the white cylinder with the purple vertical rod, slides the cylinder downward along the rod until it rests stably on the white support block beneath the rod."}, {"label": "subtasks", "start_step": 2452, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release_retreat: Right hand opens its fingers to release the stably seated white cylinder, breaks contact with the cylinder, and moves empty backward away from the wooden block assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the position near the white cylindrical objects, extending fingers to approach the green holed block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed block on the table, adjusting finger contact positions to form a grasp on the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block and lifts it upward until the block is completely off the dark table surface."}, {"label": "subtasks", "start_step": 2572, "end_step": 2617, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and leftward toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the green hexagonal block into the empty slot on the wooden block rack until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2714, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the placed green hexagonal block in the rack slot without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block."}], "episode_index": 7}
+{"source_uid": "80925306f4308c02", "num_frames": 2376, "annotation_status": "loaded", "has_annotation": true, "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 with fingers slightly adjusting at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left side below the pegboard, with wrist rotating slightly to adjust orientation."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "a8d1231d-f41f-42e7-b202-43db2b66d4b6"}, {"label": "valid", "start_step": 0, "end_step": 2346, "id": "egHiGdatodoHU3nV2afBe"}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left side below the pegboard, with wrist rotating slightly to adjust orientation."}, {"label": "subtasks", "start_step": 142, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left side below the pegboard with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 171, "end_step": 310, "id": "3f6dc522-74f9-44e3-bf00-0de0503bb72f"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow hexagonal block off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hollow hexagonal block with the front-left purple peg and slides it down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hollow hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white annular part onto the purple peg of the wooden base, with fingers opening to release the part."}, {"label": "goal", "start_step": 311, "end_step": 395, "id": "0231759e-c640-4429-8fa6-154f7b0d0b59"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 352, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 396, "end_step": 595, "id": "623c6052-7757-48f0-be40-2a9c31f324bd"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 472, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 596, "end_step": 685, "id": "23cbcb92-761f-46e3-bf84-9d8f3a269d6f"}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area to approach the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table 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": 652, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 686, "end_step": 830, "id": "516ceb99-9612-442e-b941-f03c3766e8a1"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg and inserts it down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 831, "end_step": 935, "id": "2c9a26f4-ebfd-4af4-b526-01d6e6fbc1b3"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper 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 board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white perforated hexagonal block from the black table surface."}, {"label": "goal", "start_step": 936, "end_step": 1040, "id": "6f4b640f-da71-4ce1-9214-ab48a584a8b0"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white perforated hexagonal block to above the rightmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the rightmost purple peg on the wooden rack by lowering and fitting it over the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white perforated hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1041, "end_step": 1120, "id": "0db777fd-d4f3-466c-a48a-f8103f80f984"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper 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."}, {"label": "goal", "start_step": 1121, "end_step": 1220, "id": "038ac5bb-3aa5-4d28-8b65-d59146c0b682"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, sliding the block down along the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple rod on the right side of the block tower."}, {"label": "goal", "start_step": 1221, "end_step": 1315, "id": "abb51aa4-e585-460a-ba75-3c25297cfebf"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "goal", "start_step": 1316, "end_step": 1440, "id": "584b149a-cb3e-4a8c-88ac-6cf90398b17f"}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical ring from the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical ring with the top of the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the white cylindrical ring down along the purple peg to the lower part of the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple vertical rod of the block tower."}, {"label": "goal", "start_step": 1441, "end_step": 1605, "id": "a80a7ab6-3431-4f12-9fd1-c55df47c01e9"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1522, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1606, "end_step": 1735, "id": "a0a74bd1-ae3c-46a0-a246-fa215ed8b1b5"}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple vertical rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the building block tower, with fingers opening gradually."}, {"label": "goal", "start_step": 1736, "end_step": 1845, "id": "0ddac444-9531-432d-b003-9b77d8aa74f7"}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1845, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white perforated block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1846, "end_step": 2015, "id": "a0f5d418-f32b-48b1-81af-1c3134ed8642"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table surface and transports it toward the purple vertical peg on the right wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple vertical peg by lowering it onto the peg for insertion."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press_reach: Right hand presses the top of the front-right purple-topped white cylinder on the wooden base before moving down-right toward the green cubic block on the dark table surface."}, {"label": "goal", "start_step": 2016, "end_step": 2135, "id": "a2fb646e-b62c-431f-864a-36a9dfe22762"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to fit into the hole on the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green perforated block on the right table surface, closing fingers to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 2136, "end_step": 2340, "id": "a6cbe7ae-148a-4b4d-ba04-a0199add0dc9"}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green perforated block off the table and moves it leftward and upward to the position above the purple-tipped target bottle on the tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green perforated block with the purple tip of the target bottle by aligning the hole and lowering the block onto the tip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the purple-tipped bottle without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green perforated block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the bottle array on the tray."}, {"label": "home", "start_step": 2347, "end_step": 2375, "id": "NQy6A1IMPF1e2HEmgkahh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand raises upward with fingers slightly adjusting at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left side below the pegboard, with wrist rotating slightly to adjust orientation."}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left side below the pegboard, with wrist rotating slightly to adjust orientation."}, {"label": "subtasks", "start_step": 142, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left side below the pegboard with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow hexagonal block off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hollow hexagonal block with the front-left purple peg and slides it down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hollow hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white annular part onto the purple peg of the wooden base, with fingers opening to release the part."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 352, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 472, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area to approach the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table 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": 652, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg and inserts it down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper 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 board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white perforated hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white perforated hexagonal block to above the rightmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the rightmost purple peg on the wooden rack by lowering and fitting it over the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white perforated hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper 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."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, sliding the block down along the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple rod on the right side of the block tower."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical ring from the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical ring with the top of the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the white cylindrical ring down along the purple peg to the lower part of the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple vertical rod of the block tower."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1522, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple vertical rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the building block tower, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1845, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white perforated block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table surface and transports it toward the purple vertical peg on the right wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple vertical peg by lowering it onto the peg for insertion."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press_reach: Right hand presses the top of the front-right purple-topped white cylinder on the wooden base before moving down-right toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to fit into the hole on the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green perforated block on the right table surface, closing fingers to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green perforated block off the table and moves it leftward and upward to the position above the purple-tipped target bottle on the tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green perforated block with the purple tip of the target bottle by aligning the hole and lowering the block onto the tip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the purple-tipped bottle without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green perforated block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the bottle array on the tray."}], "episode_index": 8}
+{"source_uid": "1b0897dea3c34863", "num_frames": 2457, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly forward and adjusts its hand posture. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "b4f700de-93e3-4e70-8d85-f115f8f0e646"}, {"label": "valid", "start_step": 0, "end_step": 2427, "id": "SXi-9AgU7XFFSvCaWU5tK"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 82, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand reaches the green hexagonal block, with fingers closing and adjusting to establish a stable grasp on the block."}, {"label": "goal", "start_step": 176, "end_step": 350, "id": "f1eac18f-f050-4f7c-9a9d-d34d50462c1a"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_press: Right hand aligns the green block with the purple peg, fits it onto the peg, and presses it down to the base."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand releases the green block and moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 351, "end_step": 405, "id": "2ec68225-6e19-412b-94c9-de34c19b6f7d"}, {"label": "goal", "start_step": 406, "end_step": 565, "id": "6eac2c0c-cdd0-46ac-b5ef-ed42473883e2"}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 442, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 566, "end_step": 665, "id": "b62ef49c-cbdf-4a0c-a7f5-1b5842427f0b"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and leftward toward the left white hexagonal block on the table, not contacting the object yet."}, {"label": "subtasks", "start_step": 592, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 666, "end_step": 935, "id": "6655269c-dd2c-4028-9f83-52ad0e9bbd66"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base by opening its fingers."}, {"label": "goal", "start_step": 936, "end_step": 1055, "id": "097442d7-7ceb-4473-a4eb-d692ff2e24a8"}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1056, "end_step": 1165, "id": "1565c796-4b2b-437d-bff6-f6c6a91f966e"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylinder on the wooden base, fingers open to separate from the cylinder."}, {"label": "goal", "start_step": 1166, "end_step": 1265, "id": "c0b20f12-614d-47f6-8dca-671299f8bde5"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green square block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the tabletop, fingers close around the block to adjust stable grip."}, {"label": "goal", "start_step": 1266, "end_step": 1370, "id": "3f65679e-c1d6-4d61-ade8-ec15d081fb11"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod, lowering the block to fit onto the rod completely."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the wooden building block set towards the white hexagonal cylinder on the black table."}, {"label": "goal", "start_step": 1371, "end_step": 1495, "id": "af36c6a1-4de7-439d-8e70-a2c527f34578"}, {"label": "subtasks", "start_step": 1418, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the white hexagonal cylinder on the black table."}, {"label": "goal", "start_step": 1496, "end_step": 1630, "id": "00348f5c-e044-4d45-817d-c53e779a275b"}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden base with green blocks."}, {"label": "goal", "start_step": 1631, "end_step": 1750, "id": "7d0ce62e-47b0-4d55-932e-8604ec19dc1d"}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the tabletop."}, {"label": "goal", "start_step": 1751, "end_step": 1895, "id": "ddd3c27e-4743-4105-8d20-d94cc6078e0a"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1800, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the rod."}, {"label": "goal", "start_step": 1896, "end_step": 1960, "id": "5bd567d4-ac0d-40fd-8989-6f715e2ad9bb"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface with slight adjustment."}, {"label": "goal", "start_step": 1961, "end_step": 2130, "id": "367b1a93-88ab-4328-9a5e-a46e668ef2b2"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down to fully fit onto the purple rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the area near the white bottle group toward the green block on the table."}, {"label": "goal", "start_step": 2131, "end_step": 2255, "id": "cf7ceb41-26bd-4f64-8d1a-570414ed699d"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the black table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the right black table surface."}, {"label": "goal", "start_step": 2256, "end_step": 2390, "id": "64cc249a-5ffe-4d85-bd32-6bd6fb928fcd"}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden tray with white cylinders."}, {"label": "subtasks", "start_step": 2318, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the target white cylinder on the tray and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the white cylinder."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves backward away from the tray after releasing the block."}, {"label": "home", "start_step": 2428, "end_step": 2456, "id": "0u5CWaWFfLPKkV9Lp5Ipq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly forward and adjusts its hand posture. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 82, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand reaches the green hexagonal block, with fingers closing and adjusting to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_press: Right hand aligns the green block with the purple peg, fits it onto the peg, and presses it down to the base."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand releases the green block and moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 442, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and leftward toward the left white hexagonal block on the table, not contacting the object yet."}, {"label": "subtasks", "start_step": 592, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylinder on the wooden base, fingers open to separate from the cylinder."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green square block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the tabletop, fingers close around the block to adjust stable grip."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod, lowering the block to fit onto the rod completely."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the wooden building block set towards the white hexagonal cylinder on the black table."}, {"label": "subtasks", "start_step": 1418, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the white hexagonal cylinder on the black table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden base with green blocks."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the tabletop."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1800, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface with slight adjustment."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down to fully fit onto the purple rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the area near the white bottle group toward the green block on the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the black table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the right black table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden tray with white cylinders."}, {"label": "subtasks", "start_step": 2318, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the target white cylinder on the tray and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the white cylinder."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves backward away from the tray after releasing the block."}], "episode_index": 9}
+{"source_uid": "b3379dcbbd475354", "num_frames": 2428, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the central wooden base."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "55f34aea-4555-4833-895b-3233f7e1064c"}, {"label": "valid", "start_step": 0, "end_step": 2399, "id": "xCdlio7KrvHw3AMxGSmkP"}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the top of the peg on the wooden base."}, {"label": "goal", "start_step": 271, "end_step": 400, "id": "d5704105-5e32-4fad-b0e8-793a58f71f9b"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg by inserting the peg into the hole of the green block."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green block down along the peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green block with fingers slightly opening."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 401, "end_step": 510, "id": "a010187d-0ee6-4c60-a3d0-9e5d3d05db41"}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 511, "end_step": 700, "id": "b8e3b468-cbca-4c72-810e-65ce3b5d5d17"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack by lowering it down to fit the post."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats from the wooden rack."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 701, "end_step": 790, "id": "ebe5b2e4-1a5e-4539-b06b-6d03f25c83ee"}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close and adjust to form a stable grip."}, {"label": "goal", "start_step": 791, "end_step": 915, "id": "5b6f1b54-983b-4d9a-a8d0-7d09dc1cc420"}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the wooden peg rack at the upper right area of the desktop."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost peg on the wooden rack, lowering the block onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, fingers opening to separate from the block."}, {"label": "goal", "start_step": 916, "end_step": 1030, "id": "075ef8a0-5e4b-45a0-826f-5bf933d466b9"}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1031, "end_step": 1150, "id": "fb5bf119-4d73-4b6d-bac1-ba93077816d4"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the rightmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the rightmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block with fingers opening slightly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden block rack towards the green hexagonal block on the table."}, {"label": "goal", "start_step": 1151, "end_step": 1215, "id": "4c072fcf-fd94-4cef-8032-eef5b3d57520"}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to adjust for stable grip."}, {"label": "goal", "start_step": 1216, "end_step": 1365, "id": "cbaa2d5a-fcf2-4152-ac67-d511f182f518"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green hexagonal block and separates its fingers from the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1366, "end_step": 1470, "id": "0eda5ba9-7099-4431-a9de-0321fb829c25"}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1471, "end_step": 1615, "id": "1f5f6747-3896-45a0-a8dc-16eb22e98f3a"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block, separating from the object."}, {"label": "subtasks", "start_step": 1605, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal cylinder on the table next to the wooden base."}, {"label": "goal", "start_step": 1616, "end_step": 1695, "id": "7747a41c-31e2-4f28-9fc1-2905674ff2b8"}, {"label": "subtasks", "start_step": 1650, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a grasp on the white hexagonal cylinder on the table."}, {"label": "goal", "start_step": 1696, "end_step": 1870, "id": "e0336b1d-a518-4304-88d2-97bd56d71222"}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1859, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand aligns the white hexagonal block with the purple rod and places it down onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1871, "end_step": 1950, "id": "ce91f8bd-a9b3-46f1-8975-28fa1c5d6c8f"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the white cylinder on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylinder on the black table."}, {"label": "goal", "start_step": 1951, "end_step": 2085, "id": "30f4800f-8738-4647-843b-72a00c39521b"}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white cylindrical block from its grasp."}, {"label": "goal", "start_step": 2086, "end_step": 2175, "id": "eb915605-0775-46d4-8bbc-37e4db8c3f69"}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right side of the table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block from the table surface."}, {"label": "goal", "start_step": 2176, "end_step": 2360, "id": "8af7bf7d-dce4-48e6-939a-d9e82118741b"}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green block towards the protruding white cylinder on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the protruding white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green block that is fitted onto the white cylinder."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand retreats away from the wooden tray."}, {"label": "home", "start_step": 2400, "end_step": 2427, "id": "gTjEe0MjpZEGP9SYDOkEK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the central wooden base."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the top of the peg on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg by inserting the peg into the hole of the green block."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green block down along the peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green block with fingers slightly opening."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack by lowering it down to fit the post."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats from the wooden rack."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the wooden peg rack at the upper right area of the desktop."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost peg on the wooden rack, lowering the block onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the rightmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the rightmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block with fingers opening slightly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden block rack towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to adjust for stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green hexagonal block and separates its fingers from the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block, separating from the object."}, {"label": "subtasks", "start_step": 1605, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal cylinder on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a grasp on the white hexagonal cylinder on the table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1859, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand aligns the white hexagonal block with the purple rod and places it down onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the white cylinder on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylinder on the black table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white cylindrical block from its grasp."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right side of the table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block from the table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green block towards the protruding white cylinder on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the protruding white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green block that is fitted onto the white cylinder."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand retreats away from the wooden tray."}], "episode_index": 10}
+{"source_uid": "14e48d05203c68a4", "num_frames": 2591, "annotation_status": "loaded", "has_annotation": true, "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: return_home: Left hand moves slightly inward and downward from its initial raised left position to the natural home position in front of the body, adjusting fingers from an extended posture to a relaxed slightly closed posture. | Right hand: reach: Right hand moves left and downward from its initial raised right position toward the green hexagonal block on the black table in front of the wooden peg stand, adjusting fingers continuously as it approaches without making contact with the target."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "6d8e5d84-1657-48e5-8688-e1743262be1a"}, {"label": "valid", "start_step": 0, "end_step": 2562, "id": "eEeJTRf1ytrokP5iqPUT1"}, {"label": "subtasks", "start_step": 30, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves left and downward from its initial raised right position toward the green hexagonal block on the black table in front of the wooden peg stand, adjusting fingers continuously as it approaches without making contact with the target."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block on the table, with the index finger contacting the block's top surface and other fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 201, "end_step": 335, "id": "0b271689-5643-4a29-a45e-7ec2ec31c557"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden assembly base, lowers the block to slide it onto the peg until it rests stably on the base."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand releases the green block positioned on the purple peg of the wooden base, fingers opening to separate from the block."}, {"label": "goal", "start_step": 336, "end_step": 445, "id": "519ab2e5-f640-45c5-a1d4-7767edd4bb3e"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 382, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the target white hexagonal block, fingers closing and making minor adjustments to establish a grasp on the block."}, {"label": "goal", "start_step": 446, "end_step": 620, "id": "1b6c6e69-9833-41e5-a7b8-50cd32f421ea"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod on the wooden base, makes slight positional adjustments, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: retreat: Right hand moves empty downward away from the wooden block assembly toward the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the front white hexagonal nut on the table surface with fingers extended."}, {"label": "goal", "start_step": 621, "end_step": 700, "id": "f50ed57b-62b6-4194-b99d-bb2304a006ca"}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut, adjusting finger positions to form a grip on the nut resting on the table."}, {"label": "goal", "start_step": 701, "end_step": 920, "id": "27e40d7f-845c-439a-b006-b17fbb75f288"}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 758, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty purple peg, adjusts its position with slight wrist movements, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white hexagonal nut secured on the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: retreat: Right hand moves backward away from the wooden assembly base while remaining empty."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the pegboard, with fingers slightly open."}, {"label": "goal", "start_step": 921, "end_step": 1015, "id": "143ce632-7b5b-4687-899a-bdfc9b6be81c"}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to the grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal block on the table steadily without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the block rack to establish a stable grasp."}, {"label": "goal", "start_step": 1016, "end_step": 1215, "id": "afd0b73d-82cc-44c4-9b8b-e45eb3a296eb"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand adjusts the position and orientation of the grasped white hexagonal block to align its central hole with the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg until it is stably supported by the block rack."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block on the purple peg and moves the empty hand away from the assembly position."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward empty from the area near the purple peg toward the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1216, "end_step": 1365, "id": "b62d0808-77cb-42ba-821a-77f7a9e9aa6c"}, {"label": "subtasks", "start_step": 1238, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions repeatedly to form a stable grip without lifting the block."}, {"label": "goal", "start_step": 1366, "end_step": 1510, "id": "0815b73d-ac62-4b07-80c6-81ce40ab12b9"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and toward the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, positioning the block to fit onto the post."}, {"label": "subtasks", "start_step": 1500, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty from the wooden block assembly area toward the white hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 1511, "end_step": 1610, "id": "dcff6674-530d-4a56-bfb9-ea6107027c60"}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the dark table surface, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 1611, "end_step": 1755, "id": "9373afc3-a167-4313-a57c-3bf22b8b709d"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand moves the grasped white hexagonal block horizontally toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "goal", "start_step": 1756, "end_step": 1865, "id": "a4e8e8d9-bdeb-4de9-b933-d6427670bbf6"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves from the area adjacent to the stacked block set toward the white hexagonal block on the nearby table surface, with fingers extended as it approaches the target object."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small positional adjustments to the fingers to establish a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, lifts the block upward until it is fully separated from the table surface."}, {"label": "goal", "start_step": 1866, "end_step": 2025, "id": "337f7be2-1b8b-4841-8bb8-13da8da90033"}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and rightward to the position directly above the empty vertical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2017, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand holds the white hexagonal block, aligns the block's central hole with the wooden peg below, and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: place_release: Right hand lowers the white hexagonal block onto the wooden rack surface until the block is stably supported, fingers opening to release hold of the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: idle: Right hand stays empty near the stacked blocks on the wooden base, with the index finger close to the purple rod, without noticeable movement."}, {"label": "goal", "start_step": 2026, "end_step": 2120, "id": "75545611-52db-4f77-8977-a4bc00b95571"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward and to the right from the area near the wooden block base, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the white hexagonal nut on the dark table surface, adjusting finger positions and closing fingers to establish a grip on the nut, which remains on the table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward from the dark table surface."}, {"label": "goal", "start_step": 2121, "end_step": 2280, "id": "d4aad5af-a27d-4011-9299-5935a49ddafe"}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white cylindrical block toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward from the position near the stacked white bottles toward the green cube on the lower right table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 2281, "end_step": 2375, "id": "b260f766-eed3-47a3-a72e-36e54d5262ad"}, {"label": "subtasks", "start_step": 2325, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the green cube, fingers close and make slight adjustments to establish a stable grasp, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 2376, "end_step": 2525, "id": "54072232-bc70-4b19-a329-0c47d308de5f"}, {"label": "subtasks", "start_step": 2392, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface, transporting it upward and leftward to the position directly above the purple post on the stacked block assembly."}, {"label": "subtasks", "start_step": 2438, "end_step": 2527, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the purple post, moving the block downward to fit it onto the post until it contacts the supporting block below."}, {"label": "subtasks", "start_step": 2528, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the green hollow block, which rests stably on the stacked block assembly."}, {"label": "home", "start_step": 2563, "end_step": 2590, "id": "PTHsoV-Zjzd8qaz1hTjVM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves slightly inward and downward from its initial raised left position to the natural home position in front of the body, adjusting fingers from an extended posture to a relaxed slightly closed posture. | Right hand: reach: Right hand moves left and downward from its initial raised right position toward the green hexagonal block on the black table in front of the wooden peg stand, adjusting fingers continuously as it approaches without making contact with the target."}, {"label": "subtasks", "start_step": 30, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves left and downward from its initial raised right position toward the green hexagonal block on the black table in front of the wooden peg stand, adjusting fingers continuously as it approaches without making contact with the target."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block on the table, with the index finger contacting the block's top surface and other fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden assembly base, lowers the block to slide it onto the peg until it rests stably on the base."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand releases the green block positioned on the purple peg of the wooden base, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 382, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the target white hexagonal block, fingers closing and making minor adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod on the wooden base, makes slight positional adjustments, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: retreat: Right hand moves empty downward away from the wooden block assembly toward the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the front white hexagonal nut on the table surface with fingers extended."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut, adjusting finger positions to form a grip on the nut resting on the table."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 758, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty purple peg, adjusts its position with slight wrist movements, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white hexagonal nut secured on the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: retreat: Right hand moves backward away from the wooden assembly base while remaining empty."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the pegboard, with fingers slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to the grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal block on the table steadily without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the block rack to establish a stable grasp."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand adjusts the position and orientation of the grasped white hexagonal block to align its central hole with the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg until it is stably supported by the block rack."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block on the purple peg and moves the empty hand away from the assembly position."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward empty from the area near the purple peg toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions repeatedly to form a stable grip without lifting the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and toward the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, positioning the block to fit onto the post."}, {"label": "subtasks", "start_step": 1500, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty from the wooden block assembly area toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the dark table surface, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand moves the grasped white hexagonal block horizontally toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves from the area adjacent to the stacked block set toward the white hexagonal block on the nearby table surface, with fingers extended as it approaches the target object."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small positional adjustments to the fingers to establish a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, lifts the block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and rightward to the position directly above the empty vertical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2017, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand holds the white hexagonal block, aligns the block's central hole with the wooden peg below, and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: place_release: Right hand lowers the white hexagonal block onto the wooden rack surface until the block is stably supported, fingers opening to release hold of the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: idle: Right hand stays empty near the stacked blocks on the wooden base, with the index finger close to the purple rod, without noticeable movement."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward and to the right from the area near the wooden block base, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the white hexagonal nut on the dark table surface, adjusting finger positions and closing fingers to establish a grip on the nut, which remains on the table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward from the dark table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white cylindrical block toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward from the position near the stacked white bottles toward the green cube on the lower right table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2325, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the green cube, fingers close and make slight adjustments to establish a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface, transporting it upward and leftward to the position directly above the purple post on the stacked block assembly."}, {"label": "subtasks", "start_step": 2438, "end_step": 2527, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the purple post, moving the block downward to fit it onto the post until it contacts the supporting block below."}, {"label": "subtasks", "start_step": 2528, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the green hollow block, which rests stably on the stacked block assembly."}], "episode_index": 11}
+{"source_uid": "082ee6e06d6b4a89", "num_frames": 2768, "annotation_status": "loaded", "has_annotation": true, "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: reach: Left hand moves upward and rightward toward the central building block area with fingers slightly open. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left side of the table, with fingers slightly open and wrist rotating slightly."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "411dd6cd-9900-4be9-bf88-8ea90e6895b3"}, {"label": "valid", "start_step": 0, "end_step": 2738, "id": "CGxqPqm_2oie7JWP6g7e6"}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left side of the table, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 196, "end_step": 325, "id": "78792c0e-05d3-470c-b420-d78071494fa7"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper 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 position above the wooden peg board."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 326, "end_step": 410, "id": "1c06f423-ead4-4f72-a180-46eac9303e9c"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 345, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 411, "end_step": 535, "id": "f79412c4-3f77-4f1f-98fd-5afbc7239dbb"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost purple peg and releases the part."}, {"label": "goal", "start_step": 536, "end_step": 655, "id": "7311e0b1-a4b6-4b16-96dd-a75c66be995c"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the right area of the table without moving."}, {"label": "goal", "start_step": 656, "end_step": 995, "id": "9b132999-916e-4934-bdda-34c0a83dbea4"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the front-left purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 735, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: other:adjust_part_position_on_peg: Right hand adjusts the position of the white hexagonal part on the front-left purple peg with small repeated up-and-down movements."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the right purple peg and releases the block."}, {"label": "goal", "start_step": 996, "end_step": 1085, "id": "f159aca7-ec9d-428d-b9af-7dbdc0b3b542"}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1086, "end_step": 1195, "id": "e4c9216b-56ff-45d6-ad4e-4ccdc95ec5cb"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the black table surface toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the right purple vertical post on the wooden base, then releases the part."}, {"label": "goal", "start_step": 1196, "end_step": 1295, "id": "63e86983-3d88-4d0f-8788-3f0b737a955c"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the left green hexagonal part on the black table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the left green hexagonal part on the black table surface, with fingers closing and adjusting around the part to establish a stable grip."}, {"label": "goal", "start_step": 1296, "end_step": 1435, "id": "aea9e505-d5ca-4377-af98-e5ed252c889e"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand fits the green ring-shaped piece onto the middle gray peg and releases the piece."}, {"label": "goal", "start_step": 1436, "end_step": 1550, "id": "4421edb8-5f0a-4734-a25a-c6a435e2d130"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1551, "end_step": 1805, "id": "213e0792-6f0a-45ff-a743-ea74ecca4f7a"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden rack and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 1806, "end_step": 1930, "id": "07637433-5b39-4c5a-a7b0-3d9dcf4c9bed"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the right side of the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1890, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the dark table surface, adjusting its finger grip to stabilize the object."}, {"label": "goal", "start_step": 1931, "end_step": 2165, "id": "ef6a4ac6-c471-4934-9430-c7a2e04686a4"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple vertical rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2018, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal cylinder, moving upward and separating from the object."}, {"label": "goal", "start_step": 2166, "end_step": 2255, "id": "768e63b7-3c5f-495f-b18f-55ac781669b1"}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around it."}, {"label": "goal", "start_step": 2256, "end_step": 2395, "id": "3e2984a7-62d6-483a-ade6-acb86be48db0"}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white perforated cube with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand inserts the purple small component into the top of the front-right white bottle and releases the component."}, {"label": "goal", "start_step": 2396, "end_step": 2510, "id": "130ea8e0-e4d9-42a7-9671-17375a67c3c1"}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2511, "end_step": 2700, "id": "5b2ca628-6c20-48c6-b39d-5a7a3b089640"}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the white bottle set on the wooden base in the middle of the table."}, {"label": "subtasks", "start_step": 2580, "end_step": 2691, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the rightmost white bottle on the wooden base, aligning and fitting the block into place."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release_retreat: Right hand releases the green block by opening its fingers and moves slightly away from the bottle."}, {"label": "home", "start_step": 2739, "end_step": 2767, "id": "P28OLX1n_Mqv6DYJGiKyn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rightward toward the central building block area with fingers slightly open. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left side of the table, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left side of the table, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper 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 position above the wooden peg board."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 345, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost purple peg and releases the part."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the right area of the table without moving."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the front-left purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 735, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: other:adjust_part_position_on_peg: Right hand adjusts the position of the white hexagonal part on the front-left purple peg with small repeated up-and-down movements."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the right purple peg and releases the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the black table surface toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the right purple vertical post on the wooden base, then releases the part."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the left green hexagonal part on the black table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the left green hexagonal part on the black table surface, with fingers closing and adjusting around the part to establish a stable grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand fits the green ring-shaped piece onto the middle gray peg and releases the piece."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden rack and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the right side of the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1890, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the dark table surface, adjusting its finger grip to stabilize the object."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple vertical rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2018, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal cylinder, moving upward and separating from the object."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white perforated cube with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand inserts the purple small component into the top of the front-right white bottle and releases the component."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the white bottle set on the wooden base in the middle of the table."}, {"label": "subtasks", "start_step": 2580, "end_step": 2691, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the rightmost white bottle on the wooden base, aligning and fitting the block into place."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release_retreat: Right hand releases the green block by opening its fingers and moves slightly away from the bottle."}], "episode_index": 12}
+{"source_uid": "71819b3ef426acdf", "num_frames": 2567, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger posture from an open extended position to a closed resting position, staying empty on the left side of the workspace. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger posture from an open extended position to a closed ready position, staying empty on the right side of the workspace."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "06d94fe6-7ac2-4366-ad89-aa908dd3ea82"}, {"label": "valid", "start_step": 0, "end_step": 2539, "id": "FF_vOCvtiO7cAz_OrZ0dT"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger posture from an open extended position to a closed ready position, staying empty on the right side of the workspace."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves down and left toward the scattered hexagonal blocks on the table surface, remaining empty and not yet contacting any target object."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block placed near the wooden peg base on the table."}, {"label": "goal", "start_step": 176, "end_step": 385, "id": "3cb2b64b-3e27-4179-89e8-bc16e26bf225"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and presses it down to fit the block securely onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block located on the table among the scattered blocks."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its finger positions to establish a grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 386, "end_step": 430, "id": "db8d8348-a836-4b9f-a53c-18eec9136ab1"}, {"label": "goal", "start_step": 431, "end_step": 565, "id": "258c53d4-c992-4b52-aa1a-29cb9ee44ccd"}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface and transports it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and adjusts its position to fit the nut down onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base, releasing fingers to separate from the placed block."}, {"label": "goal", "start_step": 566, "end_step": 675, "id": "cf6d4b29-f7f7-4ffa-9c2f-19112751a129"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward with an open hand from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface, adjusting finger positions to form a grip on the block."}, {"label": "goal", "start_step": 676, "end_step": 915, "id": "e09bf6ca-b800-4af3-8a0e-e316d58200b1"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, fully raising it off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the held white hexagonal nut upward and backward through the air toward the purple peg mounted on the light wooden assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand slightly rotates the held white hexagonal nut to align its central hole with the target purple peg, lowering the nut to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the loose white hexagonal nut on the table surface, with fingers slightly open, approaching the nut without establishing contact."}, {"label": "goal", "start_step": 916, "end_step": 1040, "id": "c9b2d6b9-970a-4cf5-8954-09e24277c432"}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut on the table, fingers gradually close around the nut with small adjustments to hand and finger positions to form a grip, with the nut remaining on the table surface throughout."}, {"label": "goal", "start_step": 1041, "end_step": 1190, "id": "00c8f8c5-e807-49f6-b4bc-de76ade8e960"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple vertical rod and slides it down the rod, making small positional adjustments to complete the fitting."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal cylinder on the purple rod, pulling fingers slightly away from the object."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, with fingers open."}, {"label": "goal", "start_step": 1191, "end_step": 1275, "id": "99909f4d-19c5-4673-97aa-5f2b923e7ea3"}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface, making slight adjustments to establish grip."}, {"label": "goal", "start_step": 1276, "end_step": 1435, "id": "6cf803ab-70d6-4939-a72d-57514161b9c3"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1424, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple rod on the wooden base, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the green hexagonal block placed on the purple peg of the wooden assembly base, fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 1436, "end_step": 1545, "id": "c9c81a2e-4ed2-4e66-b9b9-e67ede70f3e9"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the assembly base area toward the white hexagonal block on the black table surface, approaching the target block without contact."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting position to form a grip on the block."}, {"label": "goal", "start_step": 1546, "end_step": 1795, "id": "51024ca1-703e-4303-b27c-5cc3b214b7a5"}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1747, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the base, adjusting the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly base without observable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the wooden assembly stand, separating from the block."}, {"label": "goal", "start_step": 1796, "end_step": 1910, "id": "082e0b4b-0e9b-44a9-a1d8-8f6e3c3c129a"}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the table near the wooden assembly stand, with fingers held in an extended posture."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, making small positional adjustments of the fingers to establish a grasp."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, and lifts the block upward."}, {"label": "goal", "start_step": 1911, "end_step": 2075, "id": "6d7c397a-3c65-4fd0-86f7-289df38f874c"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple vertical rod, and lowers the block to nest it onto the rod until it rests on the stacked white block below."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the loose white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach_grasp: Right hand moves down to the white hexagonal block on the table, closes fingers and adjusts grip to securely grasp the block which remains supported by the table surface."}, {"label": "goal", "start_step": 2076, "end_step": 2125, "id": "782f4724-db73-4586-bd4b-f1f235724758"}, {"label": "goal", "start_step": 2126, "end_step": 2255, "id": "e5851f01-13d1-4b8d-aa78-9f0c358d17ad"}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transports it upward and toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowers the block to fit it onto the rod to establish the assembled connection."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block on the purple rod, moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the green square block on the lower right area of the dark table, keeping fingers slightly open as it approaches the target block."}, {"label": "goal", "start_step": 2256, "end_step": 2350, "id": "7565131e-19d0-4445-a629-87cd84a3d0cb"}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the green square block, adjusting finger positions and closing fingers around the block to form a stable grasp."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand grips the green block resting on the table surface, moves upward to lift the block completely off the table."}, {"label": "goal", "start_step": 2351, "end_step": 2500, "id": "bb07d634-74e5-4b4f-9dc8-69302ab618d9"}, {"label": "subtasks", "start_step": 2362, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block, moves it upward and leftward toward the white bottle with a purple stem on the wooden holder."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the green block downward to seat it onto the purple stem of the target white bottle, until the block is stably supported by the stem."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green block seated on the purple bottle stem without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers gradually to release the green block, separating from the block to terminate the grasp."}, {"label": "home", "start_step": 2540, "end_step": 2566, "id": "nPkQ7JLucBcV_kE6BOIOq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger posture from an open extended position to a closed resting position, staying empty on the left side of the workspace. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger posture from an open extended position to a closed ready position, staying empty on the right side of the workspace."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger posture from an open extended position to a closed ready position, staying empty on the right side of the workspace."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves down and left toward the scattered hexagonal blocks on the table surface, remaining empty and not yet contacting any target object."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block placed near the wooden peg base on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and presses it down to fit the block securely onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block located on the table among the scattered blocks."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its finger positions to establish a grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface and transports it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and adjusts its position to fit the nut down onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base, releasing fingers to separate from the placed block."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward with an open hand from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface, adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, fully raising it off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the held white hexagonal nut upward and backward through the air toward the purple peg mounted on the light wooden assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand slightly rotates the held white hexagonal nut to align its central hole with the target purple peg, lowering the nut to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the loose white hexagonal nut on the table surface, with fingers slightly open, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut on the table, fingers gradually close around the nut with small adjustments to hand and finger positions to form a grip, with the nut remaining on the table surface throughout."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple vertical rod and slides it down the rod, making small positional adjustments to complete the fitting."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal cylinder on the purple rod, pulling fingers slightly away from the object."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, with fingers open."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface, making slight adjustments to establish grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1424, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple rod on the wooden base, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the green hexagonal block placed on the purple peg of the wooden assembly base, fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the assembly base area toward the white hexagonal block on the black table surface, approaching the target block without contact."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting position to form a grip on the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1747, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the base, adjusting the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly base without observable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the wooden assembly stand, separating from the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the table near the wooden assembly stand, with fingers held in an extended posture."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, making small positional adjustments of the fingers to establish a grasp."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, and lifts the block upward."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple vertical rod, and lowers the block to nest it onto the rod until it rests on the stacked white block below."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the loose white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach_grasp: Right hand moves down to the white hexagonal block on the table, closes fingers and adjusts grip to securely grasp the block which remains supported by the table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transports it upward and toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowers the block to fit it onto the rod to establish the assembled connection."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block on the purple rod, moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the green square block on the lower right area of the dark table, keeping fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the green square block, adjusting finger positions and closing fingers around the block to form a stable grasp."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand grips the green block resting on the table surface, moves upward to lift the block completely off the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block, moves it upward and leftward toward the white bottle with a purple stem on the wooden holder."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the green block downward to seat it onto the purple stem of the target white bottle, until the block is stably supported by the stem."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green block seated on the purple bottle stem without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers gradually to release the green block, separating from the block to terminate the grasp."}], "episode_index": 13}
+{"source_uid": "44e78d527b5ee0b8", "num_frames": 2411, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture while staying at the left side of the table, with no overall translation. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table to the left of the wooden peg base, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "e767a3ed-7119-47c8-881a-dcfb9d25b5d9"}, {"label": "valid", "start_step": 0, "end_step": 2382, "id": "IMtxJ7t4ZMWuDQ_cnMuGb"}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table to the left of the wooden peg base, with fingers slightly open."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip, the block remains on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 206, "end_step": 400, "id": "4d414a82-a6d4-4680-afce-db80bfcdca5c"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the black table and transports it upward and leftward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the hole of the green cubic block with the middle purple peg and inserts the block downward onto the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place_release: Right hand places the green hexagonal block onto the wooden base at the bottom of the leftmost purple peg and releases it."}, {"label": "goal", "start_step": 401, "end_step": 500, "id": "1114d7b0-d35a-4ace-91d5-238417d27e1d"}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 501, "end_step": 660, "id": "3026ffd9-33b1-4962-b42d-0271b54663d8"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal object onto the corresponding purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the purple cylindrical piece on the wooden base, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 661, "end_step": 760, "id": "772264af-1810-4a40-8541-a8dc2af1c9fa"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting around the piece."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 761, "end_step": 890, "id": "18e986d2-133e-47ff-a1a7-5d87663d8aa5"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the peg board on the right."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the board by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the peg assembly area towards the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 891, "end_step": 1005, "id": "b9543a8b-185f-49e9-9724-7364d549c5dd"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the black table to establish a grip."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the table, fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1006, "end_step": 1145, "id": "6eb08c44-75e4-4b99-b8fd-d79aa15c07b3"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg, moving the block downward to fit the central hole over the peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white hexagonal block on the purple peg by opening its fingers, separating from the block."}, {"label": "goal", "start_step": 1146, "end_step": 1210, "id": "e3b2d063-aa23-4b96-8f44-14adba55c5b0"}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reorient_release: Right hand reorients and releases the white hexagonal block on the top-right peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1211, "end_step": 1325, "id": "586f1663-a17a-49a3-aa2a-b6f2e6dd063b"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the top of the purple peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release_retreat: Right hand releases the green hexagonal block on the purple peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: idle: Right hand remains empty above the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place_release: Right hand places the white ring onto the purple vertical rod and releases its grip."}, {"label": "goal", "start_step": 1326, "end_step": 1435, "id": "6011698a-994e-45e4-b882-d6e1dde8e22d"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1436, "end_step": 1590, "id": "f051d21b-d50f-4f2e-a717-c27475b83689"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the white hexagonal block leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, lowering it along the rod until it is fully fitted."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the area near the purple rod on the wooden base to approach the white hexagonal block on the table close to the wooden base."}, {"label": "goal", "start_step": 1591, "end_step": 1680, "id": "46da9acd-a323-43c0-87a2-21194167f7c4"}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible 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": 1658, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the right side of the table, fingers closing around the piece."}, {"label": "goal", "start_step": 1681, "end_step": 1860, "id": "2982bd89-7525-497e-b990-588d80fed2d4"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the white hollow hexagonal piece with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place: Right hand lowers the white hollow hexagonal piece along the purple rod until it is supported by the white cylinder below."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white hollow hexagonal piece, fingers opening and moving away from the piece."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: idle: Right hand remains empty next to the purple rod without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the right side of the pegboard toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1861, "end_step": 1955, "id": "b26b7e25-4f2d-43ce-b3fe-2116ee47a8ae"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white cylindrical object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1956, "end_step": 2105, "id": "ebcb088a-4c23-4a54-8f21-00a82a6474e7"}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the white cylindrical object off the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2091, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2099, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white cylindrical object, with fingers separating from the object."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: press: Right hand presses the purple top component into the front-right white column on the wooden block set."}, {"label": "goal", "start_step": 2106, "end_step": 2220, "id": "a02e232d-6507-4b24-9b18-75ea8da80141"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand reaches toward the green cubic block on the lower right table surface, moving downwards."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to fit into the block's hole."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the green cylindrical object from the right side of the table surface."}, {"label": "goal", "start_step": 2221, "end_step": 2335, "id": "2f471971-16ca-4117-901e-ff3c481c41d5"}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the green cylindrical object towards the front-right bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the green cylindrical object onto the front-right white bottle with a purple tip on the wooden tray."}, {"label": "home", "start_step": 2383, "end_step": 2410, "id": "wQLbEQ4DJc4fSdd_AlLUY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture while staying at the left side of the table, with no overall translation. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table to the left of the wooden peg base, with fingers slightly open."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table to the left of the wooden peg base, with fingers slightly open."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip, the block remains on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the black table and transports it upward and leftward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the hole of the green cubic block with the middle purple peg and inserts the block downward onto the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place_release: Right hand places the green hexagonal block onto the wooden base at the bottom of the leftmost purple peg and releases it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal object onto the corresponding purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the purple cylindrical piece on the wooden base, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting around the piece."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible 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": 780, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the peg board on the right."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the board by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the peg assembly area towards the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the black table to establish a grip."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg, moving the block downward to fit the central hole over the peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white hexagonal block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reorient_release: Right hand reorients and releases the white hexagonal block on the top-right peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the top of the purple peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release_retreat: Right hand releases the green hexagonal block on the purple peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: idle: Right hand remains empty above the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place_release: Right hand places the white ring onto the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible 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": 1440, "end_step": 1454, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the white hexagonal block leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, lowering it along the rod until it is fully fitted."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the area near the purple rod on the wooden base to approach the white hexagonal block on the table close to the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible 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": 1658, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the right side of the table, fingers closing around the piece."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the white hollow hexagonal piece with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place: Right hand lowers the white hollow hexagonal piece along the purple rod until it is supported by the white cylinder below."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white hollow hexagonal piece, fingers opening and moving away from the piece."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: idle: Right hand remains empty next to the purple rod without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the right side of the pegboard toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white cylindrical object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the white cylindrical object off the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2091, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2099, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white cylindrical object, with fingers separating from the object."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: press: Right hand presses the purple top component into the front-right white column on the wooden block set."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand reaches toward the green cubic block on the lower right table surface, moving downwards."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to fit into the block's hole."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the green cylindrical object from the right side of the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the green cylindrical object towards the front-right bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the green cylindrical object onto the front-right white bottle with a purple tip on the wooden tray."}], "episode_index": 14}
+{"source_uid": "7a178ec3d7866067", "num_frames": 2429, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "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 leftmost green block on the black table, without touching the block during movement."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "edc57fdb-ca0b-49da-b580-b61ae6794d45"}, {"label": "valid", "start_step": 0, "end_step": 2401, "id": "RsmxFC62zZWP6tu0icRRx"}, {"label": "subtasks", "start_step": 142, "end_step": 194, "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 touches the leftmost green block on the black table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "goal", "start_step": 196, "end_step": 315, "id": "68585d4e-0303-4a50-8298-18131b486979"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the purple peg by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and leftward towards the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 316, "end_step": 425, "id": "86b4cec1-36b3-497f-aff7-f8bccb314dd5"}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hollow block on the black tabletop, with fingers closing and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 426, "end_step": 550, "id": "d9c97b2e-9885-4008-b402-5230338a3249"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block onto the purple rod of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 551, "end_step": 655, "id": "3e36b8b6-46ba-4079-ad48-071c71ba72a8"}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 656, "end_step": 865, "id": "5b13e069-0104-4e75-9d74-833de4eb3702"}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base and adjusts its position slightly."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 866, "end_step": 995, "id": "edf9652e-a8c6-417d-a258-b5a605e6a310"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 996, "end_step": 1095, "id": "d62f6b4c-2f6e-483c-bbf2-69ed536199cc"}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "goal", "start_step": 1096, "end_step": 1185, "id": "e462b440-b8cf-4afc-b61b-1447222963e3"}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1186, "end_step": 1335, "id": "0f75cc8a-3a74-4c08-ad13-9c5dd769ef2d"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring placed on the lower right area of the table."}, {"label": "goal", "start_step": 1336, "end_step": 1445, "id": "03897bdc-7b1d-4f9f-b092-3b9ddea44281"}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "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 closes fingers to grasp the white hexagonal ring on the lower right area of the table."}, {"label": "goal", "start_step": 1446, "end_step": 1565, "id": "92068ea3-2142-4f4c-ba34-d6299769c7ff"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "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 aligns the central hole of the white cylinder with the top of the purple rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the white cylinder onto the purple rod until it is stably supported on the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table at the right side of the wooden block base, without contacting the block yet."}, {"label": "goal", "start_step": 1566, "end_step": 1665, "id": "f9867bd2-21ce-4f60-8703-d8f0661e211b"}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1666, "end_step": 1890, "id": "b8be0e41-b586-40ca-9bd1-c7086e2ec474"}, {"label": "subtasks", "start_step": 1710, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block after successful fitting."}, {"label": "subtasks", "start_step": 1890, "end_step": 1941, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the area near the building block set to approach the white hollow block on the table."}, {"label": "goal", "start_step": 1891, "end_step": 1985, "id": "4983fd1e-bebe-4bfb-a4d9-278119c8ede8"}, {"label": "subtasks", "start_step": 1942, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hollow block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1986, "end_step": 2105, "id": "4b83a831-1a37-4091-9d78-4e33e4705010"}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white block that is placed on the purple rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray."}, {"label": "goal", "start_step": 2106, "end_step": 2205, "id": "3fd58325-bd85-4c51-9493-7c0b3f514649"}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "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 adjusts fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2206, "end_step": 2365, "id": "a5a4c0ea-07b0-448b-9899-7d339c3246da"}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "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 green block from the table and transports it towards the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2347, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "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 green block from its grip."}, {"label": "home", "start_step": 2402, "end_step": 2428, "id": "ehcs4SWtYLS0INYTwEAbV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "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 leftmost green block on the black table, without touching the block during movement."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "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 touches the leftmost green block on the black table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the purple peg by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and leftward towards the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hollow block on the black tabletop, with fingers closing and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block onto the purple rod of the wooden base, with fingers opening gradually."}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base and adjusts its position slightly."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring placed on the lower right area of the table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "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 closes fingers to grasp the white hexagonal ring on the lower right area of the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "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 aligns the central hole of the white cylinder with the top of the purple rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the white cylinder onto the purple rod until it is stably supported on the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table at the right side of the wooden block base, without contacting the block yet."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block after successful fitting."}, {"label": "subtasks", "start_step": 1890, "end_step": 1941, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the area near the building block set to approach the white hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hollow block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white block that is placed on the purple rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "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 adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "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 green block from the table and transports it towards the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2347, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "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 green block from its grip."}], "episode_index": 15}
+{"source_uid": "a3545f86c1b1a7f6", "num_frames": 2713, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_hand: Left hand moves upward and slightly rotates its wrist to reposition in the air, remaining empty and not touching any operating object. | Right hand: reach: Right hand moves leftward from the right side of the scene to approach the green hexagonal block on the table at the left of the wooden base, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "d64ade27-fd2c-48da-ae42-df7d42fa9f0e"}, {"label": "valid", "start_step": 0, "end_step": 2686, "id": "Z2NUD5N6MYtVaYxkJ2YA3"}, {"label": "subtasks", "start_step": 30, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves leftward from the right side of the scene to approach the green hexagonal block on the table at the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 158, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal block, then closes its fingers and adjusts to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without any movement."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 271, "end_step": 415, "id": "176085a2-c2b1-4b14-8542-c34309111442"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward and upward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack, lowering and adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 416, "end_step": 560, "id": "d50880ca-7bda-4e39-9a38-7f269f4af56c"}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers kept open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 561, "end_step": 810, "id": "93752805-7eac-4fcd-a6b8-266a627ed6b3"}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 638, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 811, "end_step": 915, "id": "1d5ead1d-2796-4b63-9169-80338cd587bb"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part with a hole on the black table."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal part with a hole on the black table, with fingers closing and adjusting the grip."}, {"label": "goal", "start_step": 916, "end_step": 1080, "id": "cf4e374f-97ff-45c6-861a-29a28d55e5f8"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple peg on the wooden rack, lowering the block down to fit onto the peg completely."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats away from the assembled white block and wooden rack, moving slightly to the right."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 1081, "end_step": 1170, "id": "1307f2cc-d979-4d59-b208-f64886c9acb9"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 1171, "end_step": 1315, "id": "ab99d365-1a86-4beb-af29-20e7926d0304"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it leftward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the rightmost purple peg on the wooden base, aligning the piece's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the right purple peg and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal piece, moving slightly upward as its grip loosens."}, {"label": "goal", "start_step": 1316, "end_step": 1405, "id": "b04760cb-f07f-40f0-ab78-c6f1a26564bd"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the right purple peg and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1406, "end_step": 1505, "id": "ef565e96-2015-4dd8-918c-753d5f6b6599"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it onto the rod to establish assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand places the green hexagonal block down along the purple rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1506, "end_step": 1625, "id": "656cd56b-a3b8-4507-8480-ac9fc721cfb5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release_reach: Right hand releases the green block on the purple peg and reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments."}, {"label": "goal", "start_step": 1626, "end_step": 1815, "id": "a8799417-404b-44a8-ac52-9b386ba821f0"}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the top of the purple peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand lowers the white cylindrical block along the purple peg until it rests on the green block below."}, {"label": "subtasks", "start_step": 1718, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white cylindrical block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats upward away from the white cylindrical block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white ring block on the purple rod of the wooden-based block set."}, {"label": "goal", "start_step": 1816, "end_step": 1905, "id": "09b76b71-e0de-4ae7-a6e4-865b68e6c11f"}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the right side of the table, adjusting its fingers to form a stable grip while the cylinder stays on the table surface."}, {"label": "goal", "start_step": 1906, "end_step": 2035, "id": "f3fdbda9-de52-4ad1-8221-ce428b656a78"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the purple peg on the wooden block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand lowers the white hollow cylinder onto the purple peg until the cylinder is supported by the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical peg on the wooden base."}, {"label": "goal", "start_step": 2036, "end_step": 2115, "id": "2caf1043-f393-4b4f-861f-82ef455e44bf"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift: Right hand lifts the white hollow cylindrical piece from the dark table surface."}, {"label": "goal", "start_step": 2116, "end_step": 2265, "id": "cca9bce3-6d6d-4359-8c82-123d7bb96c5b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: transport: Right hand transports the white hollow cylindrical piece leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg by aligning the hole and lowering the piece onto the peg."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: press: Right hand presses the top of the white bottle with green base on the wooden tray."}, {"label": "goal", "start_step": 2266, "end_step": 2370, "id": "7a2ddeb8-6aeb-49a6-bc5d-8ec981974661"}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2347, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp_lift: Right hand grasps the green perforated block on the right tabletop and lifts it off the supporting surface."}, {"label": "goal", "start_step": 2371, "end_step": 2660, "id": "aedf79db-1b89-4ef4-9c27-2de35aceee9c"}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: transport: Right hand carries the green perforated block toward the rightmost white column on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the green perforated block with the rightmost white column and fits it down onto the column to complete nesting assembly."}, {"label": "subtasks", "start_step": 2482, "end_step": 2631, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green perforated block fitted on the rightmost white column without moving."}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand opens its fingers to release the green perforated block, separating from the block."}, {"label": "subtasks", "start_step": 2648, "end_step": 2669, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats empty away from the assembled green block on the rack."}, {"label": "home", "start_step": 2687, "end_step": 2712, "id": "dyIqb5ljd6_mi7N689xjs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_hand: Left hand moves upward and slightly rotates its wrist to reposition in the air, remaining empty and not touching any operating object. | Right hand: reach: Right hand moves leftward from the right side of the scene to approach the green hexagonal block on the table at the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 30, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves leftward from the right side of the scene to approach the green hexagonal block on the table at the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 158, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal block, then closes its fingers and adjusts to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without any movement."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward and upward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack, lowering and adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers kept open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 638, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part with a hole on the black table."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal part with a hole on the black table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple peg on the wooden rack, lowering the block down to fit onto the peg completely."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats away from the assembled white block and wooden rack, moving slightly to the right."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it leftward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the rightmost purple peg on the wooden base, aligning the piece's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the right purple peg and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal piece, moving slightly upward as its grip loosens."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the right purple peg and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it onto the rod to establish assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand places the green hexagonal block down along the purple rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release_reach: Right hand releases the green block on the purple peg and reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the top of the purple peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand lowers the white cylindrical block along the purple peg until it rests on the green block below."}, {"label": "subtasks", "start_step": 1718, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white cylindrical block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats upward away from the white cylindrical block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white ring block on the purple rod of the wooden-based block set."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the right side of the table, adjusting its fingers to form a stable grip while the cylinder stays on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the purple peg on the wooden block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand lowers the white hollow cylinder onto the purple peg until the cylinder is supported by the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift: Right hand lifts the white hollow cylindrical piece from the dark table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: transport: Right hand transports the white hollow cylindrical piece leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg by aligning the hole and lowering the piece onto the peg."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: press: Right hand presses the top of the white bottle with green base on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2347, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp_lift: Right hand grasps the green perforated block on the right tabletop and lifts it off the supporting surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: transport: Right hand carries the green perforated block toward the rightmost white column on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the green perforated block with the rightmost white column and fits it down onto the column to complete nesting assembly."}, {"label": "subtasks", "start_step": 2482, "end_step": 2631, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green perforated block fitted on the rightmost white column without moving."}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand opens its fingers to release the green perforated block, separating from the block."}, {"label": "subtasks", "start_step": 2648, "end_step": 2669, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats empty away from the assembled green block on the rack."}], "episode_index": 16}
+{"source_uid": "ad515fca75fa5ee0", "num_frames": 3153, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "5cd00729-a1c7-45bc-8c87-bf1984e9da04"}, {"label": "valid", "start_step": 0, "end_step": 3127, "id": "OSwS3SwgIP0AJ5KH8yejU"}, {"label": "subtasks", "start_step": 150, "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 closes fingers to grasp the green block at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "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 transports it to the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 226, "end_step": 465, "id": "048f6f7b-dc26-404b-8926-e1c09a48a3f3"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod."}, {"label": "subtasks", "start_step": 278, "end_step": 411, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the installed green block on the purple rod."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "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 reaches towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 466, "end_step": 555, "id": "7e22ae82-ef98-4b97-87fb-fae6a170da33"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "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": 525, "end_step": 554, "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 black table without any movement."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal block placed on the black workbench."}, {"label": "goal", "start_step": 556, "end_step": 680, "id": "322a9ee7-5d25-4da8-8f0e-06997a7db67a"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the workbench and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 annular block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 681, "end_step": 785, "id": "d5998d46-cfde-43ae-ae04-a3545c8367fb"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "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 black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "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 fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 786, "end_step": 995, "id": "5a22968e-c6c8-4ac4-8873-bb09ecbcbd3a"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and pushing it down onto the rod."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "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 block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 towards the white hexagonal block on the table in front of the wooden assembly base."}, {"label": "goal", "start_step": 996, "end_step": 1090, "id": "fc85bc0f-2a1f-45e9-a3e3-fbf03ee5c517"}, {"label": "subtasks", "start_step": 1028, "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: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "goal", "start_step": 1091, "end_step": 1210, "id": "ffb01d4e-46fb-482a-befd-9f8b08f52a77"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1132, "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 mates the white hexagonal block with the purple post by fitting it down onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1211, "end_step": 1290, "id": "ca7ba2d5-966f-42be-9d7c-99f20948c2a3"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1291, "end_step": 1460, "id": "82ae6fcd-1be7-4d8a-acd2-8c0494d7e80c"}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up to make it fully leave the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it until the block is fully seated on the base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1461, "end_step": 1580, "id": "6f95029a-2ec5-48f8-aab8-b2357c2448f1"}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "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 table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "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 cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1581, "end_step": 1860, "id": "8ad763af-7392-4712-a273-c807796ffff6"}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1688, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats slightly from the rod."}, {"label": "goal", "start_step": 1861, "end_step": 1980, "id": "4e551db1-d66a-4f4c-8628-f6d7f300fa2b"}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1928, "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: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1981, "end_step": 2120, "id": "72ac9bdd-984e-4ce7-9af0-6dc9f11f4246"}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 cylindrical block and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "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 cylindrical block onto the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table surface."}, {"label": "goal", "start_step": 2121, "end_step": 2195, "id": "6853b3b9-53a9-452e-b30a-845fee6485d9"}, {"label": "subtasks", "start_step": 2145, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hollow block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 2196, "end_step": 2350, "id": "e4374310-68c1-48e6-933d-e48756b12df5"}, {"label": "subtasks", "start_step": 2212, "end_step": 2317, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small purple plug into the hole of the white block on the wooden base."}, {"label": "goal", "start_step": 2351, "end_step": 2455, "id": "0d6a9dda-afa1-42ac-99d4-6b5e316a7253"}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table surface."}, {"label": "goal", "start_step": 2456, "end_step": 3075, "id": "b9e939ed-e41c-4757-8c77-e968c536140a"}, {"label": "subtasks", "start_step": 2475, "end_step": 2557, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple cap of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring from its grasp."}, {"label": "subtasks", "start_step": 2610, "end_step": 2684, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack towards the green cube on the right table surface."}, {"label": "subtasks", "start_step": 2685, "end_step": 2849, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts its grip on the green cube on the table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2924, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table surface and transports it towards the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2925, "end_step": 3067, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple cap of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 3068, "end_step": 3089, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube from its grasp."}, {"label": "home", "start_step": 3128, "end_step": 3152, "id": "JlwosfCaf1lpir4nx4mxe"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 150, "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 closes fingers to grasp the green block at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "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 transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod."}, {"label": "subtasks", "start_step": 278, "end_step": 411, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the installed green block on the purple rod."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "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 reaches towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "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": 525, "end_step": 554, "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 black table without any movement."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal block placed on the black workbench."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the workbench and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 annular block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "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 black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "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 fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and pushing it down onto the rod."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "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 block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 towards the white hexagonal block on the table in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1028, "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: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1132, "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 mates the white hexagonal block with the purple post by fitting it down onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up to make it fully leave the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it until the block is fully seated on the base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "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 table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "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 cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1688, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats slightly from the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1928, "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: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 cylindrical block and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "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 cylindrical block onto the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hollow block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2212, "end_step": 2317, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small purple plug into the hole of the white block on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2557, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple cap of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring from its grasp."}, {"label": "subtasks", "start_step": 2610, "end_step": 2684, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack towards the green cube on the right table surface."}, {"label": "subtasks", "start_step": 2685, "end_step": 2849, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts its grip on the green cube on the table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2924, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table surface and transports it towards the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2925, "end_step": 3067, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the purple cap of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 3068, "end_step": 3089, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cube from its grasp."}], "episode_index": 17}
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_10_55_37_train/lerobot_v3.0/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_07_01_10_55_37_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..029c261fe4714f664c525414f49b4f52700e666e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_10_55_37_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,18 @@
+{"source_uid": "a8a0d9027dc6e3b6", "num_frames": 3505, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block on the table in front-left of the wooden assembly base, with fingers extended and open."}, {"label": "goal", "start_step": 0, "end_step": 226, "id": "d91dfede-15f8-4e46-aca0-418aab2caa8a"}, {"label": "valid", "start_step": 0, "end_step": 3476, "id": "4Z3bIzXVmT2vd2ZW_hxBq"}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers close gradually and adjust contact positions to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block placed on the table adjacent to the wooden peg board."}, {"label": "goal", "start_step": 227, "end_step": 510, "id": "411d7898-ee41-48c9-8510-d58a281f592b"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes subtle adjustments to finger positions and wrist angle to seat the green hexagonal block properly on the purple peg."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block steady on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downwards from the wooden block assembly stand toward the front-left white hexagonal nut on the black table surface, remaining empty with extended fingers."}, {"label": "goal", "start_step": 511, "end_step": 670, "id": "ecb586f9-498a-4323-8c3c-c81f9eaea9f2"}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, making small finger and wrist adjustments to establish a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the front-left white hexagonal nut steadily on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 671, "end_step": 830, "id": "ef2f913a-076c-482b-be9b-4e263409033d"}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block and moves it toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 728, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then slides the block down the rod to fit onto the green base below."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and forward from the wooden pegboard area toward the white hexagonal block on the black table surface, with fingers slightly spread as it approaches the target block."}, {"label": "goal", "start_step": 831, "end_step": 960, "id": "e9fe0316-72a9-4064-a8da-a1dfa353035f"}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table surface, closing fingers gradually to establish a grasp on the block."}, {"label": "goal", "start_step": 961, "end_step": 1440, "id": "6b06da02-a5d6-452b-b726-da937acf4ca4"}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward and forward to position it directly above the target peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the target peg, lowering the nut until it rests on the stacked parts below on the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1439, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: press: Right hand applies steady downward pressure along the vertical axis of the peg to seat the white hexagonal nut onto the stack, with small finger and wrist adjustments to maintain alignment during the process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block placed on the peg of the wooden block stand, separating from the block."}, {"label": "goal", "start_step": 1441, "end_step": 1580, "id": "bce9761d-d15e-4208-91c7-dcfffc18d4a4"}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table in front of the wooden stand, with an open hand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface near the wooden block rack without visible movement."}, {"label": "goal", "start_step": 1581, "end_step": 1730, "id": "8ef1661f-b541-4739-811e-8b62ef98504c"}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post on the rack and slides the block down the post until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block and separates from the block seated on the purple post."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and forward from above the wooden block rack toward the left front green hexagonal block on the table, with open fingers and no contact with the target block."}, {"label": "goal", "start_step": 1731, "end_step": 1815, "id": "a91f1de3-b21a-46f3-ba98-079e889be51c"}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the left front green hexagonal block on the table, adjusts finger positions and closes fingers to establish a grip on the block."}, {"label": "goal", "start_step": 1816, "end_step": 1930, "id": "a225278b-b9fc-4619-9246-c88f5ae50df7"}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward toward the purple peg on the light wooden block stand."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small position adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens fingers to release the green block placed on the purple peg of the wooden block assembly, separating fully from the block."}, {"label": "goal", "start_step": 1931, "end_step": 2055, "id": "9ed2ed45-b7ff-4f73-92cb-dab7353b143a"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downwards toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2077, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "goal", "start_step": 2056, "end_step": 2185, "id": "084c00f7-46f8-4c1b-bc72-29e94fa3b163"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand moves the grasped white hexagonal block through the air toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2186, "end_step": 2295, "id": "0166f22b-971b-45cd-b0e1-87a37b2815a7"}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table to the right of the wooden base, not yet making contact with the target block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, with fingers closing and adjusting to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2296, "end_step": 2440, "id": "ec8f51c8-d5ec-4541-99ce-4a7c27436308"}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand moves the grasped white hexagonal block upward off the dark table surface and shifts it leftward to hold the block directly above an empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2378, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: place: Right hand lowers the grasped white hexagonal block downward into the empty slot on the wooden block stand until the block is stably supported by the stand surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: press: Right hand presses the white block on the purple vertical rod downwards to secure it fully onto the wooden base."}, {"label": "goal", "start_step": 2441, "end_step": 2555, "id": "2f6606c6-7e43-46ac-94e9-8877d52966f7"}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves empty in a downward-right direction toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand holds the white cylindrical block resting on the dark table surface, lifts the block upward until it is fully separated from the table."}, {"label": "goal", "start_step": 2556, "end_step": 3115, "id": "6c39415e-298b-44b4-b8ff-239ffddb91b1"}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white cylindrical block, moving leftward and upward to position the block directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 2640, "end_step": 2991, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white cylindrical block with the purple rod, lowers the block along the rod until it rests stably on the lower white block on the rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3067, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled white cylindrical block on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3068, "end_step": 3081, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release grip on the white cylindrical block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3104, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: retreat: Right hand moves rightward and downward away from the wooden rack, retreating from the operation position with an empty hand."}, {"label": "subtasks", "start_step": 3105, "end_step": 3141, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and slightly left toward the green cube on the dark table, fingers kept extended as it approaches the target."}, {"label": "goal", "start_step": 3116, "end_step": 3200, "id": "5974b1b7-21a0-4017-9ef6-e439f2a40409"}, {"label": "subtasks", "start_step": 3142, "end_step": 3187, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green cube, fingers gradually close and adjust positions around the cube to establish a stable grip, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green cube steadily on the dark table surface without observable movement of the hand, fingers or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3217, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its fingers to firmly grasp the small green object resting on the dark table surface."}, {"label": "goal", "start_step": 3201, "end_step": 3450, "id": "f166213c-607e-495d-99a7-339ba53d5dcf"}, {"label": "subtasks", "start_step": 3218, "end_step": 3231, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped small green object upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 3232, "end_step": 3284, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the small green object through the air toward the wooden rack holding the white cylindrical objects."}, {"label": "subtasks", "start_step": 3285, "end_step": 3434, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the small green object to align it with the top of the target white cylinder on the wooden rack, fitting the object onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3457, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release the small green object, leaving the object resting stably on top of the target white cylinder."}, {"label": "subtasks", "start_step": 3458, "end_step": 3464, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: retreat: Right hand moves backward away from the assembled objects after releasing the green object."}, {"label": "home", "start_step": 3477, "end_step": 3504, "id": "e2ILqNFubVz_6GV42KyCL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block on the table in front-left of the wooden assembly base, with fingers extended and open."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green hexagonal block, fingers close gradually and adjust contact positions to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block placed on the table adjacent to the wooden peg board."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to the position above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes subtle adjustments to finger positions and wrist angle to seat the green hexagonal block properly on the purple peg."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green hexagonal block steady on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downwards from the wooden block assembly stand toward the front-left white hexagonal nut on the black table surface, remaining empty with extended fingers."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, making small finger and wrist adjustments to establish a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the front-left white hexagonal nut steadily on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block and moves it toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 728, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, then slides the block down the rod to fit onto the green base below."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 825, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and forward from the wooden pegboard area toward the white hexagonal block on the black table surface, with fingers slightly spread as it approaches the target block."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand adjusts finger positions around the white hexagonal block on the table surface, closing fingers gradually to establish a grasp on the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface, moving it upward and forward to position it directly above the target peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the target peg, lowering the nut until it rests on the stacked parts below on the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1439, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: press: Right hand applies steady downward pressure along the vertical axis of the peg to seat the white hexagonal nut onto the stack, with small finger and wrist adjustments to maintain alignment during the process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block placed on the peg of the wooden block stand, separating from the block."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table in front of the wooden stand, with an open hand."}, {"label": "subtasks", "start_step": 1515, "end_step": 1574, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closing fingers and making slight adjustments to finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark table surface near the wooden block rack without visible movement."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the white hexagonal block upward to completely separate it from the dark table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1717, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post on the rack and slides the block down the post until it rests on the lower white block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release grip on the white hexagonal block and separates from the block seated on the purple post."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and forward from above the wooden block rack toward the left front green hexagonal block on the table, with open fingers and no contact with the target block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1837, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the left front green hexagonal block on the table, adjusts finger positions and closes fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward toward the purple peg on the light wooden block stand."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small position adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens fingers to release the green block placed on the purple peg of the wooden block assembly, separating fully from the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downwards toward the white hexagonal block resting on the dark table surface adjacent to the green square block."}, {"label": "subtasks", "start_step": 1988, "end_step": 2077, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand moves the grasped white hexagonal block through the air toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked blocks on the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table to the right of the wooden base, not yet making contact with the target block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, with fingers closing and adjusting to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift_transport: Right hand moves the grasped white hexagonal block upward off the dark table surface and shifts it leftward to hold the block directly above an empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2378, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: place: Right hand lowers the grasped white hexagonal block downward into the empty slot on the wooden block stand until the block is stably supported by the stand surface."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: press: Right hand presses the white block on the purple vertical rod downwards to secure it fully onto the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves empty in a downward-right direction toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand holds the white cylindrical block resting on the dark table surface, lifts the block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 2595, "end_step": 2639, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the lifted white cylindrical block, moving leftward and upward to position the block directly above the purple vertical rod on the wooden rack."}, {"label": "subtasks", "start_step": 2640, "end_step": 2991, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand makes small positional and rotational adjustments to align the central hole of the white cylindrical block with the purple rod, lowers the block along the rod until it rests stably on the lower white block on the rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3067, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the assembled white cylindrical block on the purple rod without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 3068, "end_step": 3081, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release grip on the white cylindrical block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3104, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: retreat: Right hand moves rightward and downward away from the wooden rack, retreating from the operation position with an empty hand."}, {"label": "subtasks", "start_step": 3105, "end_step": 3141, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: reach: Right hand moves downward and slightly left toward the green cube on the dark table, fingers kept extended as it approaches the target."}, {"label": "subtasks", "start_step": 3142, "end_step": 3187, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand makes contact with the green cube, fingers gradually close and adjust positions around the cube to establish a stable grip, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 3188, "end_step": 3194, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: hold: Right hand holds the green cube steadily on the dark table surface without observable movement of the hand, fingers or the cube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3217, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: grasp: Right hand adjusts its fingers to firmly grasp the small green object resting on the dark table surface."}, {"label": "subtasks", "start_step": 3218, "end_step": 3231, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: lift: Right hand lifts the grasped small green object upward to completely separate it from the table surface."}, {"label": "subtasks", "start_step": 3232, "end_step": 3284, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: transport: Right hand carries the small green object through the air toward the wooden rack holding the white cylindrical objects."}, {"label": "subtasks", "start_step": 3285, "end_step": 3434, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: mate: Right hand adjusts the position of the small green object to align it with the top of the target white cylinder on the wooden rack, fitting the object onto the cylinder."}, {"label": "subtasks", "start_step": 3435, "end_step": 3457, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: release: Right hand opens its fingers to release the small green object, leaving the object resting stably on top of the target white cylinder."}, {"label": "subtasks", "start_step": 3458, "end_step": 3464, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without obvious movement or contact with any operated object. | Right hand: retreat: Right hand moves backward away from the assembled objects after releasing the green object."}], "episode_index": 0}
+{"source_uid": "d25acf98b3131efb", "num_frames": 3253, "annotation_status": "loaded", "has_annotation": true, "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: return_home: Left hand moves upward and returns to the left home position. | Right hand: reach: Right hand moves leftward and upward toward the white cylinder on the rightmost front purple rod."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "ea9cedb0-8cc0-49ba-b83a-f8455de5b0f8"}, {"label": "valid", "start_step": 0, "end_step": 3224, "id": "9TTY2FK0Kr3nqoSYnV1jg"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 upward toward the white cylinder on the rightmost front purple rod."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: other:dislodge_white_cylinder_from_rod: Right hand dislodges the white cylinder from the rightmost front purple rod, making the cylinder fall off."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "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 left front area of the table."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the left front area of the table."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00006", "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 surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "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 black table surface, with fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 201, "end_step": 615, "id": "bfec8efb-2b56-4c32-840c-ccddd29293ef"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the purple peg on the wooden base by adjusting and pressing it down, and releases the block after assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00010", "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 black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 616, "end_step": 670, "id": "abf50fef-53db-4a60-91af-b7adad27ef02"}, {"label": "goal", "start_step": 671, "end_step": 1030, "id": "c5e96744-df8c-411f-91e4-c3bcd17c8e0d"}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00012", "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 piece off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00013", "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 piece with the purple peg and fits the piece onto the peg."}, {"label": "subtasks", "start_step": 772, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "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 middle purple peg and releases the block."}, {"label": "goal", "start_step": 1031, "end_step": 1160, "id": "cc24a53a-ac40-4e38-83a7-cd0b1e018ef2"}, {"label": "subtasks", "start_step": 1042, "end_step": 1087, "id": "reasoning-language-00016", "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 white hexagonal block at the lower left of the table."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00017", "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 at the lower left of the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00018", "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 at the lower left of the table without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00019", "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 with fingers closing around it."}, {"label": "goal", "start_step": 1161, "end_step": 1375, "id": "cc1f52a8-4081-4ed9-a505-870d42659ce7"}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00020", "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 black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00022", "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 front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1376, "end_step": 1510, "id": "f6573844-859b-4e24-a96c-1a2c8787cbc0"}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00025", "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, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1511, "end_step": 1875, "id": "c71f4d31-913b-4ed3-aed4-5dd9109c4f57"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal part vertically up from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white hexagonal part leftward and upward to the position above the front middle purple rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front middle purple rod and moves it downward to fit the part onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "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 white hexagonal part fitted on the front middle purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers, fully separating from the part."}, {"label": "subtasks", "start_step": 1748, "end_step": 1874, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: retreat: Right hand retreats rightward and upward away from the front middle purple rod while remaining empty."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple peg of the pegboard."}, {"label": "goal", "start_step": 1876, "end_step": 1950, "id": "e4e2374e-264d-4974-a78a-f2c8c8c1ac4e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00033", "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 cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00034", "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 table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1951, "end_step": 2105, "id": "7edcee6b-edc3-449e-a579-7cbc49de3fa9"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00035", "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 from the table surface and transports it to the upper position of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2099, "id": "reasoning-language-00036", "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 onto the target peg of the wooden base, moving the block downward to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the block tower, with fingers opening."}, {"label": "goal", "start_step": 2106, "end_step": 2265, "id": "3bc99145-9996-4eee-977e-8613cff4f8cd"}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00038", "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 with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00039", "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, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00040", "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 table without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the right side of the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 2266, "end_step": 2405, "id": "33d1e1fe-9844-4193-b37b-dd6a5ce33e22"}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00042", "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 cylindrical part off the table and moves it toward the wooden peg base at the center of the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple peg on the wooden base and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base with fingers opening."}, {"label": "goal", "start_step": 2406, "end_step": 2520, "id": "c1f49d01-fa1c-4605-978d-bae4010927fd"}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2460, "end_step": 2534, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2521, "end_step": 2685, "id": "7c79be03-cfa9-46a5-8deb-97c18897c32f"}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00048", "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 cylinder off the table and transports it leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00049", "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 hollow cylinder with the purple rod and nests the cylinder onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand slides the white hollow cylinder downward along the purple rod and places it on the wooden base plate."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hollow cylinder by opening its fingers, fully separating from the cylinder."}, {"label": "goal", "start_step": 2686, "end_step": 2760, "id": "aa102351-52fb-4fbf-91ec-dace54c85fc7"}, {"label": "subtasks", "start_step": 2708, "end_step": 2737, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal object on the table, keeping empty."}, {"label": "subtasks", "start_step": 2738, "end_step": 2797, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing around the object to form a stable grip."}, {"label": "goal", "start_step": 2761, "end_step": 2915, "id": "e62477d4-2aab-4699-8d65-43a55a0296a0"}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00054", "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 toward the purple peg on the central wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2879, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block by opening its fingers and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 2910, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top of the rightmost white cylinder on the wooden tray at the center of the table."}, {"label": "goal", "start_step": 2916, "end_step": 3010, "id": "b1e18892-5089-4c6d-aa66-55fa52caf717"}, {"label": "subtasks", "start_step": 2932, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the green cube on the lower right area of the table, moving downward with empty hand."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cube on the lower right area of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cube on the lower right area of the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3029, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green ring-shaped object on the right ground, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3011, "end_step": 3175, "id": "5d84a28b-50ae-4831-b22d-5acc198ef5e6"}, {"label": "subtasks", "start_step": 3030, "end_step": 3067, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green ring-shaped object from the ground and transports it toward the white bottle on the right of the wooden tray."}, {"label": "subtasks", "start_step": 3068, "end_step": 3179, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green ring-shaped object with the purple-topped white bottle on the wooden tray and fits it onto the bottle."}, {"label": "home", "start_step": 3225, "end_step": 3252, "id": "sA8lDYlYG1u-QTnkHIpqt"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and returns to the left home position. | Right hand: reach: Right hand moves leftward and upward toward the white cylinder on the rightmost front purple rod."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 upward toward the white cylinder on the rightmost front purple rod."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: other:dislodge_white_cylinder_from_rod: Right hand dislodges the white cylinder from the rightmost front purple rod, making the cylinder fall off."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "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 left front area of the table."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the left front area of the table."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00006", "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 surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00007", "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 black table surface, with fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the purple peg on the wooden base by adjusting and pressing it down, and releases the block after assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00010", "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 black table surface, approaching the target object."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00012", "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 piece off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00013", "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 piece with the purple peg and fits the piece onto the peg."}, {"label": "subtasks", "start_step": 772, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00015", "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 middle purple peg and releases the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1087, "id": "reasoning-language-00016", "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 white hexagonal block at the lower left of the table."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00017", "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 at the lower left of the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00018", "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 at the lower left of the table without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00019", "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 with fingers closing around it."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00020", "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 black table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00022", "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 front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the front-left peg of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00025", "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, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal part vertically up from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white hexagonal part leftward and upward to the position above the front middle purple rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the front middle purple rod and moves it downward to fit the part onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "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 white hexagonal part fitted on the front middle purple rod without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers, fully separating from the part."}, {"label": "subtasks", "start_step": 1748, "end_step": 1874, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: retreat: Right hand retreats rightward and upward away from the front middle purple rod while remaining empty."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00033", "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 cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00034", "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 table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00035", "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 from the table surface and transports it to the upper position of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2099, "id": "reasoning-language-00036", "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 onto the target peg of the wooden base, moving the block downward to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the block tower, with fingers opening."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00038", "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 with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00039", "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, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00040", "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 table without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the right side of the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00042", "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 cylindrical part off the table and moves it toward the wooden peg base at the center of the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple peg on the wooden base and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base with fingers opening."}, {"label": "subtasks", "start_step": 2422, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2460, "end_step": 2534, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00048", "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 cylinder off the table and transports it leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00049", "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 hollow cylinder with the purple rod and nests the cylinder onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2677, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place: Right hand slides the white hollow cylinder downward along the purple rod and places it on the wooden base plate."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hollow cylinder by opening its fingers, fully separating from the cylinder."}, {"label": "subtasks", "start_step": 2708, "end_step": 2737, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal object on the table, keeping empty."}, {"label": "subtasks", "start_step": 2738, "end_step": 2797, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing around the object to form a stable grip."}, {"label": "subtasks", "start_step": 2798, "end_step": 2834, "id": "reasoning-language-00054", "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 toward the purple peg on the central wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2879, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block by opening its fingers and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 2910, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press: Right hand presses the purple top of the rightmost white cylinder on the wooden tray at the center of the table."}, {"label": "subtasks", "start_step": 2932, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the green cube on the lower right area of the table, moving downward with empty hand."}, {"label": "subtasks", "start_step": 2970, "end_step": 2984, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cube on the lower right area of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cube on the lower right area of the table without moving."}, {"label": "subtasks", "start_step": 3000, "end_step": 3029, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green ring-shaped object on the right ground, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3030, "end_step": 3067, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green ring-shaped object from the ground and transports it toward the white bottle on the right of the wooden tray."}, {"label": "subtasks", "start_step": 3068, "end_step": 3179, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green ring-shaped object with the purple-topped white bottle on the wooden tray and fits it onto the bottle."}], "episode_index": 1}
+{"source_uid": "59d6689facf5eae2", "num_frames": 2863, "annotation_status": "loaded", "has_annotation": true, "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 operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "79595bf9-aaa9-4f04-8e56-b08608f45f98"}, {"label": "valid", "start_step": 0, "end_step": 2833, "id": "LKg_kLVfJFvTytCsKaSqB"}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hexagonal block on the table surface."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any movement."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 206, "end_step": 480, "id": "a6b06905-d29b-482b-97bf-98b02ced9980"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press_release: Right hand presses the green block down along the purple rod to secure it, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "goal", "start_step": 481, "end_step": 593, "id": "b04988fe-fcdc-406d-b472-3d14f8e87684"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "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: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 594, "end_step": 843, "id": "b1339986-4497-444f-9e00-521ac6c2e7c9"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 839, "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: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "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 ring onto the peg of the wooden base."}, {"label": "goal", "start_step": 844, "end_step": 948, "id": "1bcde11d-49fa-408b-94df-117d54a37e02"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "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 downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 adjusts fingers to form stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 949, "end_step": 1127, "id": "1f07c5bb-de7a-4e06-9bef-ac4523a264a1"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down to fully fit onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "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 white cylindrical object on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 1128, "end_step": 1279, "id": "c711f6a1-d42c-47eb-ac25-14809ac22826"}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "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 closes its fingers around the white cylindrical object, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical object on the table without moving."}, {"label": "subtasks", "start_step": 1275, "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: grasp: Right hand grasps the white hexagonal object on the black tabletop, fingers close to form a stable grip."}, {"label": "goal", "start_step": 1280, "end_step": 1419, "id": "8f668c66-453a-4232-808f-6a6c8913f04d"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1420, "end_step": 1504, "id": "96dadaef-62d8-4795-a982-5b26fdb0570e"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1505, "end_step": 1639, "id": "a5944a61-b2d9-418b-ba4f-37404d4daa43"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the purple peg, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, fingers open and separate from the block."}, {"label": "goal", "start_step": 1640, "end_step": 1764, "id": "22c0b262-4a35-4c42-befd-a963664692e9"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table near the green square block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1765, "end_step": 1904, "id": "a60a52f4-f780-48c5-8a92-94674a8693b7"}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white cylinder off the black tabletop."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00034", "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 cylinder towards the wooden peg board."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00035", "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 cylinder onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00036", "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 white cylinder, separating from the object."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical object on the wooden base, fingers open to separate from the object."}, {"label": "goal", "start_step": 1905, "end_step": 2009, "id": "72b595d2-4d95-43d7-b587-c829bcaf8941"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical object placed on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical object on the black table surface, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylinder placed on the black table."}, {"label": "goal", "start_step": 2010, "end_step": 2254, "id": "7d3dad54-f4f2-4d2c-b1c1-6d8cabda31b9"}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "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 table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "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 and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylinder on the purple rod without moving."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder from its grip."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block on the rightmost bottom position of the wooden tray."}, {"label": "goal", "start_step": 2255, "end_step": 2354, "id": "f9f113e8-d6a1-4a4c-8d49-3a5358939d83"}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2377, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 2355, "end_step": 2484, "id": "48e1a378-08de-45ad-b4ea-0f98039a8ffb"}, {"label": "subtasks", "start_step": 2378, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2504, "id": "reasoning-language-00051", "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 tray."}, {"label": "goal", "start_step": 2485, "end_step": 2594, "id": "05690ee3-fe50-4310-8e0f-c4a0eb512134"}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the lower right part of the table."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00053", "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 green cubic block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2595, "end_step": 2617, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green block on the black table surface."}, {"label": "goal", "start_step": 2595, "end_step": 2809, "id": "451348d1-ac06-49be-bfd1-b56dc4d8c5c9"}, {"label": "subtasks", "start_step": 2618, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the wooden tray with white cylinders."}, {"label": "subtasks", "start_step": 2662, "end_step": 2811, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white cylinder and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 2812, "end_step": 2819, "id": "reasoning-language-00057", "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 fitted on the white cylinder."}, {"label": "home", "start_step": 2834, "end_step": 2862, "id": "jdm57OEDMfIvhKWIRAkcT"}], "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 operating area without moving. | Right hand: reach: Right hand moves toward the green hexagonal block located on the black table surface."}, {"label": "subtasks", "start_step": 120, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hexagonal block on the table surface."}, {"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 operating area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any movement."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green block on the black 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 side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 292, "end_step": 479, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press_release: Right hand presses the green block down along the purple rod to secure it, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 540, "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: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 839, "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: Right hand mates the white hexagonal block onto the purple rod, adjusting position to fit the rod."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "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 ring onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "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 downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 892, "end_step": 974, "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 adjusts fingers to form stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down to fully fit onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "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 white cylindrical object on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "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 closes its fingers around the white cylindrical object, making slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical object on the table without moving."}, {"label": "subtasks", "start_step": 1275, "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: grasp: Right hand grasps the white hexagonal object on the black tabletop, fingers close to form a stable grip."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the purple peg, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table near the green square block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white cylinder off the black tabletop."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00034", "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 cylinder towards the wooden peg board."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00035", "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 cylinder onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00036", "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 white cylinder, separating from the object."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: idle: Right hand remains empty above the wooden board without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical object on the wooden base, fingers open to separate from the object."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical object placed on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical object on the black table surface, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylinder placed on the black table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "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 table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "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 and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylinder on the purple rod without moving."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder from its grip."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block on the rightmost bottom position of the wooden tray."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2377, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2504, "id": "reasoning-language-00051", "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 tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the lower right part of the table."}, {"label": "subtasks", "start_step": 2542, "end_step": 2594, "id": "reasoning-language-00053", "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 green cubic block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2595, "end_step": 2617, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 2618, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the wooden tray with white cylinders."}, {"label": "subtasks", "start_step": 2662, "end_step": 2811, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the top of the rightmost white cylinder and inserts it downwards to complete assembly."}, {"label": "subtasks", "start_step": 2812, "end_step": 2819, "id": "reasoning-language-00057", "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 fitted on the white cylinder."}], "episode_index": 2}
+{"source_uid": "0dfcdfb058695701", "num_frames": 3018, "annotation_status": "loaded", "has_annotation": true, "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: return_home: Left hand moves inward and upward from the left outer initial position to the left front natural resting position, remaining empty throughout the movement. | Right hand: reach: Right hand moves forward and downward from the right outer initial position toward the green hexagonal nut near the left side of the wooden peg assembly, remaining empty with fingers adjusting posture during the movement."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "3e79e3f4-1ac7-4bd4-9c60-6df543591117"}, {"label": "valid", "start_step": 0, "end_step": 2989, "id": "ta8kw7cV0Yg1XMiFQotwZ"}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves forward and downward from the right outer initial position toward the green hexagonal nut near the left side of the wooden peg assembly, remaining empty with fingers adjusting posture during the movement."}, {"label": "subtasks", "start_step": 128, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut on the black table surface, closes fingers around the nut, and makes slight adjustments of fingers and wrist to establish grasp, with the nut remaining supported by the table."}, {"label": "goal", "start_step": 206, "end_step": 650, "id": "8eedab37-3d3c-4c8e-8fca-76ec5caa41c9"}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the black table surface and moves it upward to position it above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 292, "end_step": 584, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate_release: Right hand makes small rotational and positional adjustments to the held green hexagonal block, aligns its central hole with the target purple peg, slides the block down onto the peg, and opens fingers to release the block seated on the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal block resting on the black table surface, approaching the block without establishing a grip."}, {"label": "subtasks", "start_step": 645, "end_step": 727, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to securely grasp the white hexagonal block resting on the dark table surface near loose green blocks."}, {"label": "goal", "start_step": 651, "end_step": 715, "id": "85f5a565-e223-4dd3-9864-ff4f59b33b42"}, {"label": "goal", "start_step": 716, "end_step": 915, "id": "5d35225d-3fdd-4ff9-9cc8-13a27af971ab"}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and transports it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 907, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden rack without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the white hexagonal block positioned on the purple rod."}, {"label": "goal", "start_step": 916, "end_step": 1040, "id": "745c192e-9e6a-4dad-b8d2-e4913e23b0aa"}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward, empty, toward the front-left white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 975, "end_step": 1064, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the black table surface, adjusting finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1041, "end_step": 1220, "id": "42159025-5444-4e42-9e5a-e667ee5ecd69"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped hexagonal block off the black table surface, moving it upward and toward the light purple peg on the light brown wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1214, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held hexagonal block with the light purple peg on the wooden rack, lowering the block to fit onto the peg with small wrist rotations and finger adjustments for proper alignment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut placed in front of the wooden pegboard, remaining out of contact with the nut throughout the movement."}, {"label": "goal", "start_step": 1221, "end_step": 1315, "id": "664626b9-ac44-4b93-aeec-427a8c36f5d8"}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand contacts the target loose white hexagonal nut, with fingers closing around the nut to adjust and form a stable grip while the nut stays resting on the table surface."}, {"label": "goal", "start_step": 1316, "end_step": 1480, "id": "fff24171-1f80-49bd-95fc-e2371f3a9a6c"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: transport_mate: Right hand carries the white hexagonal block toward the purple peg on the wooden assembly base, aligns the block's hole with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block mounted on the purple peg of the assembly base without any visible movement."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple peg of the wooden stacking stand, releasing the grip to leave the block stably supported on the peg."}, {"label": "goal", "start_step": 1481, "end_step": 1565, "id": "7841545d-fedf-410c-be2b-05a021134183"}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface next to the wooden stand, approaching the target block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight adjustments to finger positions to establish grip on the block."}, {"label": "goal", "start_step": 1566, "end_step": 1755, "id": "32c420ff-e832-4f2b-84b0-fca60418941c"}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to mate it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and right-front across the dark table surface to approach the frontmost loose white hexagonal nut, with fingers kept open."}, {"label": "goal", "start_step": 1756, "end_step": 1845, "id": "c4bc18b9-40ca-4c8e-a7b0-0064a68d3113"}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the frontmost white hexagonal nut, closes fingers around the nut, and makes slight finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface near the green block without moving."}, {"label": "goal", "start_step": 1846, "end_step": 2080, "id": "6d1c906a-0e7e-4942-9077-06b2ccfa304f"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the block stand and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 2069, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the block stand without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to break contact with the top white cylindrical block on the wooden stacked block assembly."}, {"label": "goal", "start_step": 2081, "end_step": 2195, "id": "03d77430-3b88-4ec5-87ff-d5eb1a24cf91"}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty diagonally downward toward the nearest white hexagonal block resting on the dark table next to the wooden base, until a fingertip lightly touches the top surface of the block."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its wrist and finger positions, closing fingers around the nearest white hexagonal block on the table to form a grip on the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves upward toward the white cylinder on the purple rod placed on the wooden tray, staying empty before contacting the target cylinder."}, {"label": "goal", "start_step": 2196, "end_step": 2305, "id": "897e8a03-abbe-4e6a-a6b5-b1213435c07f"}, {"label": "subtasks", "start_step": 2228, "end_step": 2271, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the target white cylinder on the purple rod, with minor finger adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white cylinder on the purple rod on the wooden tray without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: press: Right hand presses the top white block on the purple rod of the wooden block stand downward with its index finger."}, {"label": "goal", "start_step": 2306, "end_step": 2405, "id": "01729f4a-2faa-4c34-8146-b598305f8ab0"}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves toward the loose white hexagonal block on the dark table surface, with fingers extended."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the dark table surface, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white block and lifts it upward from the dark gray table surface until the block is fully separated from the table."}, {"label": "goal", "start_step": 2406, "end_step": 2730, "id": "95f092c7-e53f-4592-87f4-ac4c3f85fa6d"}, {"label": "subtasks", "start_step": 2422, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white block toward the purple vertical rod on the wooden block tray, moving horizontally to position the block directly above the rod's top end."}, {"label": "subtasks", "start_step": 2468, "end_step": 2721, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white block with the purple rod, moving the block downward along the rod to nest it onto the rod until the block rests stably on the lower white block on the tray."}, {"label": "subtasks", "start_step": 2722, "end_step": 2729, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the nested white block, separating its fingers from the block surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2767, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the area near the stacked white-green bottles toward the green holed cube on the dark table surface, remaining empty and not yet contacting the cube."}, {"label": "goal", "start_step": 2731, "end_step": 2825, "id": "641511f5-efbf-400a-93a0-6f4ee655fada"}, {"label": "subtasks", "start_step": 2768, "end_step": 2841, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the green holed cube on the table, with fingers adjusting and closing around the cube to form a grasp, while the cube remains resting on the table surface."}, {"label": "goal", "start_step": 2826, "end_step": 2960, "id": "5b779bac-11cf-4876-83d5-91c03482b8ab"}, {"label": "subtasks", "start_step": 2842, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface, moving the block upward and leftward toward the target position on the wooden tray."}, {"label": "subtasks", "start_step": 2895, "end_step": 2947, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the green block downward to the empty spot on the wooden tray, adjusting the block until it is stably supported by the tray surface."}, {"label": "subtasks", "start_step": 2948, "end_step": 2969, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers gradually to release the green block, separating the hand from the block resting on the tray."}, {"label": "home", "start_step": 2990, "end_step": 3017, "id": "p4LwpdhhkSn4xrOBXKeLY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves inward and upward from the left outer initial position to the left front natural resting position, remaining empty throughout the movement. | Right hand: reach: Right hand moves forward and downward from the right outer initial position toward the green hexagonal nut near the left side of the wooden peg assembly, remaining empty with fingers adjusting posture during the movement."}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves forward and downward from the right outer initial position toward the green hexagonal nut near the left side of the wooden peg assembly, remaining empty with fingers adjusting posture during the movement."}, {"label": "subtasks", "start_step": 128, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the target green hexagonal nut on the black table surface, closes fingers around the nut, and makes slight adjustments of fingers and wrist to establish grasp, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 240, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the black table surface and moves it upward to position it above a purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 292, "end_step": 584, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate_release: Right hand makes small rotational and positional adjustments to the held green hexagonal block, aligns its central hole with the target purple peg, slides the block down onto the peg, and opens fingers to release the block seated on the peg."}, {"label": "subtasks", "start_step": 585, "end_step": 644, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal block resting on the black table surface, approaching the block without establishing a grip."}, {"label": "subtasks", "start_step": 645, "end_step": 727, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes slight finger adjustments to securely grasp the white hexagonal block resting on the dark table surface near loose green blocks."}, {"label": "subtasks", "start_step": 728, "end_step": 757, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and transports it upward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 907, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden rack without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release contact with the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and forward, empty, toward the front-left white hexagonal block on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 975, "end_step": 1064, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the black table surface, adjusting finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped hexagonal block off the black table surface, moving it upward and toward the light purple peg on the light brown wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1214, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held hexagonal block with the light purple peg on the wooden rack, lowering the block to fit onto the peg with small wrist rotations and finger adjustments for proper alignment."}, {"label": "subtasks", "start_step": 1215, "end_step": 1267, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut placed in front of the wooden pegboard, remaining out of contact with the nut throughout the movement."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand contacts the target loose white hexagonal nut, with fingers closing around the nut to adjust and form a stable grip while the nut stays resting on the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: transport_mate: Right hand carries the white hexagonal block toward the purple peg on the wooden assembly base, aligns the block's hole with the peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block mounted on the purple peg of the assembly base without any visible movement."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple peg of the wooden stacking stand, releasing the grip to leave the block stably supported on the peg."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the black table surface next to the wooden stand, approaching the target block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight adjustments to finger positions to establish grip on the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and transports it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1739, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block to mate it onto the rod on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the mated green hexagonal block on the purple rod, and moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward and right-front across the dark table surface to approach the frontmost loose white hexagonal nut, with fingers kept open."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the frontmost white hexagonal nut, closes fingers around the nut, and makes slight finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface near the green block without moving."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1919, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the block stand and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 2069, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the block stand without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to break contact with the top white cylindrical block on the wooden stacked block assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty diagonally downward toward the nearest white hexagonal block resting on the dark table next to the wooden base, until a fingertip lightly touches the top surface of the block."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its wrist and finger positions, closing fingers around the nearest white hexagonal block on the table to form a grip on the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves upward toward the white cylinder on the purple rod placed on the wooden tray, staying empty before contacting the target cylinder."}, {"label": "subtasks", "start_step": 2228, "end_step": 2271, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the target white cylinder on the purple rod, with minor finger adjustments to establish a stable grasp."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white cylinder on the purple rod on the wooden tray without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: press: Right hand presses the top white block on the purple rod of the wooden block stand downward with its index finger."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves toward the loose white hexagonal block on the dark table surface, with fingers extended."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the dark table surface, adjusting finger contact positions to form a grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand holds the white block and lifts it upward from the dark gray table surface until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2467, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white block toward the purple vertical rod on the wooden block tray, moving horizontally to position the block directly above the rod's top end."}, {"label": "subtasks", "start_step": 2468, "end_step": 2721, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white block with the purple rod, moving the block downward along the rod to nest it onto the rod until the block rests stably on the lower white block on the tray."}, {"label": "subtasks", "start_step": 2722, "end_step": 2729, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the nested white block, separating its fingers from the block surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2767, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the area near the stacked white-green bottles toward the green holed cube on the dark table surface, remaining empty and not yet contacting the cube."}, {"label": "subtasks", "start_step": 2768, "end_step": 2841, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand makes contact with the green holed cube on the table, with fingers adjusting and closing around the cube to form a grasp, while the cube remains resting on the table surface."}, {"label": "subtasks", "start_step": 2842, "end_step": 2894, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the green block completely off the table surface, moving the block upward and leftward toward the target position on the wooden tray."}, {"label": "subtasks", "start_step": 2895, "end_step": 2947, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: place: Right hand lowers the green block downward to the empty spot on the wooden tray, adjusting the block until it is stably supported by the tray surface."}, {"label": "subtasks", "start_step": 2948, "end_step": 2969, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front resting position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens fingers gradually to release the green block, separating the hand from the block resting on the tray."}], "episode_index": 3}
+{"source_uid": "bf1a038c35058143", "num_frames": 2476, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward and opens its fingers to adjust posture at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the left of the wooden base, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "3d020658-f948-43d5-92a8-c3db3c210f97"}, {"label": "valid", "start_step": 0, "end_step": 2446, "id": "aleTycKholBVSrIp9b1g_"}, {"label": "subtasks", "start_step": 30, "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: reach: Right hand moves leftward toward the green hexagonal block on the left of the wooden base, with fingers slightly open."}, {"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: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight grip adjustment."}, {"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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 196, "end_step": 335, "id": "4efc9564-ff53-4f57-9bd3-76191fc1e388"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table while moving it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "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 and inserts the green hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 336, "end_step": 440, "id": "ab14655b-d415-47a9-9b78-88ec93f8bb54"}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left 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": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 441, "end_step": 715, "id": "0487c841-eb95-4ad7-b6c0-473e9470240e"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it onto the peg until it fits in place."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost 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 without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base, with fingers opening to release the grip."}, {"label": "goal", "start_step": 716, "end_step": 825, "id": "15cf68e0-1566-41ba-be61-a4ce473c2fd7"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward to reach toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left area of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 826, "end_step": 1020, "id": "78c63cf7-0ba8-4d48-94ac-e5f727ece4d2"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hollow hexagonal part off the table and transports it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal part with the purple peg on the wooden base, inserting the part down onto the peg."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal part on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part, with fingers opening and moving slightly upward away from the part."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "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 from the upper peg building block area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1021, "end_step": 1135, "id": "1bfa9330-e554-4294-9e7b-14c608178df9"}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1136, "end_step": 1240, "id": "be50323a-0f62-4b53-9c8d-439e9d259a43"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple peg of the block set."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg by lowering it to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "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 building block on the peg board with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1241, "end_step": 1320, "id": "4d07dae5-7dba-4eaf-a6b7-96ee9f9d97f6"}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes and adjusts fingers to grasp the green hexagonal block on the table, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1321, "end_step": 1420, "id": "04e94d6f-1dd6-4edb-8cb5-19fe63cb55df"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1421, "end_step": 1530, "id": "b1e2e454-bd7b-4d67-93db-643aabd4ba12"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1531, "end_step": 1690, "id": "ec35fcd4-a684-4f67-a025-eafc88f54db8"}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the ground and moves it upward and leftward toward the central peg assembly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece onto the vertical peg on the green block of the central peg assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece on the peg of the central peg assembly without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the stacked block set, with fingers opening."}, {"label": "goal", "start_step": 1691, "end_step": 1805, "id": "c3d0abcb-3796-425c-b987-30fc0f3f89a2"}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the small white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small white hexagonal block on the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "goal", "start_step": 1806, "end_step": 1980, "id": "5ac9eb5d-bd1e-4a0a-9c73-6b0dc6c78ba2"}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward and leftward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "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 with the purple vertical rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "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 cylindrical block on the purple vertical rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "goal", "start_step": 1981, "end_step": 2055, "id": "6ab33a36-1717-49a5-97f1-15c5502e08ef"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "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 cubic block on the right side of the table without moving."}, {"label": "goal", "start_step": 2056, "end_step": 2185, "id": "d2750d8c-0a82-4b29-b5bf-f47630d24675"}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the front-right white cylinder on the wooden tray and releases its grip on the rod."}, {"label": "goal", "start_step": 2186, "end_step": 2280, "id": "99ce0da9-4213-4ad9-bbb2-523837608511"}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2281, "end_step": 2415, "id": "72c878f1-7d62-466c-9705-6e6f25c11d29"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cap off the table and transports it toward the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cap with the purple-topped bottle on the wooden tray, aligning and pressing the cap onto the bottle."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00062", "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 cap by opening its fingers and retreats slightly away from the bottle."}, {"label": "home", "start_step": 2447, "end_step": 2475, "id": "0rDnYNn4mcH2sMCfI51hW"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves upward and opens its fingers to adjust posture at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the left of the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 30, "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: reach: Right hand moves leftward toward the green hexagonal block on the left of the wooden base, with fingers slightly open."}, {"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: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, with slight grip adjustment."}, {"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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table while moving it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "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 and inserts the green hexagonal block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left 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": 435, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it onto the peg until it fits in place."}, {"label": "subtasks", "start_step": 578, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost 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 without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg of the wooden base, with fingers opening to release the grip."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward to reach toward the white hexagonal block on the lower-left area of the table."}, {"label": "subtasks", "start_step": 765, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower-left area of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 hollow hexagonal part off the table and transports it toward the wooden base with purple pegs."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal part with the purple peg on the wooden base, inserting the part down onto the peg."}, {"label": "subtasks", "start_step": 900, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal part on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part, with fingers opening and moving slightly upward away from the part."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "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 from the upper peg building block area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the rightmost purple peg of the block set."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg by lowering it to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "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 building block on the peg board with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes and adjusts fingers to grasp the green hexagonal block on the table, and lifts the block slightly off the table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the green cubic block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical piece off the ground and moves it upward and leftward toward the central peg assembly."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece onto the vertical peg on the green block of the central peg assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical piece on the peg of the central peg assembly without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the stacked block set, with fingers opening."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the small white hexagonal block on the table, without making contact."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the small white hexagonal block on the table, with fingers closing and adjusting to secure the grip."}, {"label": "subtasks", "start_step": 1800, "end_step": 1814, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward and leftward to the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "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 with the purple vertical rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 1928, "end_step": 1941, "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 cylindrical block on the purple vertical rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward and leftward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "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 cubic block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2144, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the purple rod into the front-right white cylinder on the wooden tray and releases its grip on the rod."}, {"label": "subtasks", "start_step": 2198, "end_step": 2234, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2309, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cap off the table and transports it toward the purple-topped bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cap with the purple-topped bottle on the wooden tray, aligning and pressing the cap onto the bottle."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00062", "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 cap by opening its fingers and retreats slightly away from the bottle."}], "episode_index": 4}
+{"source_uid": "80176d6033527ae6", "num_frames": 2390, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 190, "id": "55c0a852-7f48-45ac-a56b-cdb252306cbe"}, {"label": "valid", "start_step": 0, "end_step": 2361, "id": "UBuxKf8j35TLIJPJ5Y5UR"}, {"label": "subtasks", "start_step": 90, "end_step": 179, "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 approaches and grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it above the target purple rod on the wooden rack."}, {"label": "goal", "start_step": 191, "end_step": 380, "id": "db728df4-2980-43e2-adb0-91c21b61fb2d"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple rod."}, {"label": "subtasks", "start_step": 248, "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: place: Right hand places the green block down along the purple rod until it nearly touches the wooden rack base."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00006", "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 to secure it at the bottom of the purple rod."}, {"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 operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 381, "end_step": 470, "id": "9f15a417-9a38-4734-b76f-e06a4130def2"}, {"label": "subtasks", "start_step": 398, "end_step": 411, "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 downward toward the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "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 closes its fingers to adjust and grasp the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 471, "end_step": 640, "id": "c3988a4a-e1cc-4a71-a878-59589e452ffc"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "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_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it down onto the post."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 641, "end_step": 750, "id": "1926ad7e-24d8-45b9-aeba-c06f0976f672"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "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 adjusts fingers to form a stable grasp on the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 751, "end_step": 910, "id": "5d02f7b0-7dfe-4d66-b5a2-fe88788b0879"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 911, "end_step": 1000, "id": "4419545e-799c-4db2-87fc-9530beebf5a7"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table in front of the wooden base."}, {"label": "goal", "start_step": 1001, "end_step": 1135, "id": "29a1e56c-e4c6-435d-b2f9-5ef33a5b9515"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1136, "end_step": 1245, "id": "7e3ed34d-81d8-4726-9db4-06d9beffddd7"}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green square block on the black table surface."}, {"label": "goal", "start_step": 1246, "end_step": 1360, "id": "991a8330-46ae-4f21-86b2-6f7a3a8303bf"}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1361, "end_step": 1470, "id": "32ee8834-b8aa-4afc-b6cd-ce98308384c4"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "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 adjusts its fingers to grasp the white ring on the black table surface."}, {"label": "goal", "start_step": 1471, "end_step": 1620, "id": "258c69f9-784b-4709-84c4-19cb9f79338b"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats upwards from the peg."}, {"label": "goal", "start_step": 1621, "end_step": 1705, "id": "1e6a5284-687f-4f82-82d3-c3d16bd1c3c8"}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylinder on the black tabletop with fingers closing around it."}, {"label": "goal", "start_step": 1706, "end_step": 1855, "id": "f03d6f10-9b08-4f18-a782-c4182713d6da"}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod and releases its grip on the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1856, "end_step": 1940, "id": "a668e777-9788-4914-8588-5b32d37871aa"}, {"label": "subtasks", "start_step": 1898, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1941, "end_step": 2060, "id": "c968cc94-0392-4f69-8ca2-c03933ac5a1b"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylinder with purple top on the wooden tray."}, {"label": "goal", "start_step": 2061, "end_step": 2170, "id": "73868da5-6241-4d72-93b5-7fe1a7477285"}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green square block placed on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 2171, "end_step": 2345, "id": "812cf697-9de1-4436-a622-5eb7ed27d67a"}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 2228, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00052", "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 its grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray."}, {"label": "home", "start_step": 2362, "end_step": 2389, "id": "3o-0rEjm9FsYyiq2jnanU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located in front of the wooden base on the table."}, {"label": "subtasks", "start_step": 90, "end_step": 179, "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 approaches and grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"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 operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table surface and transports it above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple rod."}, {"label": "subtasks", "start_step": 248, "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: place: Right hand places the green block down along the purple rod until it nearly touches the wooden rack base."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00006", "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 to secure it at the bottom of the purple rod."}, {"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 operating area without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 411, "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 downward toward the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 487, "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 closes its fingers to adjust and grasp the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "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_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the purple post on the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it down onto the post."}, {"label": "subtasks", "start_step": 555, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple post without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "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 downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 771, "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 adjusts fingers to form a stable grasp on the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 832, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it is fully seated on the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1491, "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 adjusts its fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats upwards from the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the white cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylinder on the black tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod and releases its grip on the block."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2054, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white cylinder with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2078, "end_step": 2107, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green square block placed on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2189, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 2228, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00052", "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 its grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves backward away from the wooden tray."}], "episode_index": 5}
+{"source_uid": "c53ab591430487af", "num_frames": 2759, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "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 hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "c246762b-2680-4916-9677-b272b9046845"}, {"label": "valid", "start_step": 0, "end_step": 2730, "id": "HY9FDuXyYTobWi5EYWBXs"}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and carries it leftward toward the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod of the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table beside the rack."}, {"label": "goal", "start_step": 226, "end_step": 465, "id": "1af92ac4-71e0-4a81-8180-960f772909b8"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down to the base of the leftmost purple post."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches upward and grasps the white hexagonal block on the leftmost purple post."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward along the leftmost purple post."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "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 back onto the leftmost purple post."}, {"label": "subtasks", "start_step": 442, "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 leftmost purple post without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to break contact."}, {"label": "goal", "start_step": 466, "end_step": 565, "id": "280bb175-d9b3-4dbf-a4a3-c99746dee6fa"}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the lower left area of the table surface, moving downward from the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 566, "end_step": 740, "id": "07cdda37-613a-45d6-a31e-7ca062456f90"}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the peg board on the middle-right of the table."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the green base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the peg, with fingers opening and moving away from the nut."}, {"label": "goal", "start_step": 741, "end_step": 855, "id": "3adbcabf-f0dc-4513-b4a1-23318ad30de1"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block at the lower left of the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "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 black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 856, "end_step": 1110, "id": "d432793a-afeb-4a0e-9135-1f5c217bd783"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front peg of the wooden rack, aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 922, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats to the right away from the wooden rack, remaining empty."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the table, with fingers open."}, {"label": "goal", "start_step": 1111, "end_step": 1225, "id": "055c7fdd-3227-4a6d-9850-22417264c313"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip while the object stays on the table."}, {"label": "goal", "start_step": 1226, "end_step": 1430, "id": "01fe4b88-3ed8-4a87-8554-4210691a2e6a"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple vertical peg by aligning its hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object, with fingers opening to separate from the object."}, {"label": "goal", "start_step": 1431, "end_step": 1525, "id": "7b054768-3299-4dfb-8187-9ef88b35cc0c"}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, approaching the target without establishing a stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "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 hexagonal block on the black table surface, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "goal", "start_step": 1526, "end_step": 1655, "id": "edf4dac9-da81-47fb-85d9-6c0b73afdb85"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and lowers it to fit onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "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 purple rod without moving."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "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 green block on the wooden base peg downward along the peg axis."}, {"label": "goal", "start_step": 1656, "end_step": 1780, "id": "60e78f6f-d8d0-4d35-b360-21058e40ccd9"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1799, "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 dark table surface."}, {"label": "goal", "start_step": 1781, "end_step": 1975, "id": "7f0cab7a-f24a-4732-b551-c9a6cedfa87b"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "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 table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1941, "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 cylindrical block with the purple rod and inserts it downwards onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upwards away from the purple rod after releasing the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "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 position next to the purple rod on the wooden base toward the white hexagonal block on the table, without touching the block."}, {"label": "goal", "start_step": 1976, "end_step": 2050, "id": "521eaf23-44be-472c-b8e8-efa0734fb0f5"}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "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 upper white hexagonal block on the right table surface, closing its fingers to form a stable grip."}, {"label": "goal", "start_step": 2051, "end_step": 2250, "id": "885cd62a-8b15-4418-b8a8-d9753876a441"}, {"label": "subtasks", "start_step": 2078, "end_step": 2137, "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 and moves the white hexagonal block upward and leftward to the area above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2211, "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 fits the white hexagonal block onto the purple vertical rod, lowering it until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "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 hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the lower white hexagonal block on the right table surface and makes initial contact to start grasping."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "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 its fingers to grasp the white cubic block resting on the right side of the table."}, {"label": "goal", "start_step": 2251, "end_step": 2305, "id": "5879587e-4d70-4bdf-b3b8-bd612137e972"}, {"label": "goal", "start_step": 2306, "end_step": 2465, "id": "089d195c-63d7-4ee3-a5aa-6761a3abe1e4"}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and moves the white cubic block upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand assembles the white cubic block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the purple-capped white cylinder on the wooden tray."}, {"label": "goal", "start_step": 2466, "end_step": 2555, "id": "06a0505e-af03-4299-9637-c5015becacfd"}, {"label": "subtasks", "start_step": 2482, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 2512, "end_step": 2571, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2556, "end_step": 2700, "id": "a39a3b1c-67d9-413c-b329-c4d02968c1e4"}, {"label": "subtasks", "start_step": 2572, "end_step": 2617, "id": "reasoning-language-00064", "text": "Left 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 surface and transports it towards the white bottle rack on the table."}, {"label": "subtasks", "start_step": 2618, "end_step": 2691, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green block downward and mates it onto the top of the front-right white bottle on the rack."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00066", "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 on the bottle top and retreats slightly away from the rack."}, {"label": "home", "start_step": 2731, "end_step": 2758, "id": "lcfxuo9N-SEG5eVWdZKnw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "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 hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and carries it leftward toward the leftmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod of the wooden rack and fits it onto the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table beside the rack."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 262, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple post of the rack."}, {"label": "subtasks", "start_step": 308, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down to the base of the leftmost purple post."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches upward and grasps the white hexagonal block on the leftmost purple post."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block slightly upward along the leftmost purple post."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "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 back onto the leftmost purple post."}, {"label": "subtasks", "start_step": 442, "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 leftmost purple post without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening to break contact."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the lower left area of the table surface, moving downward from the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the peg board on the middle-right of the table."}, {"label": "subtasks", "start_step": 630, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg on the green base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal nut on the peg, with fingers opening and moving away from the nut."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block at the lower left of the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "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 black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front peg of the wooden rack, aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 922, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening and separating from the block surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats to the right away from the wooden rack, remaining empty."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal piece on the table, with fingers open."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal piece on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip while the object stays on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1417, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple vertical peg by aligning its hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, approaching the target without establishing a stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "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 hexagonal block on the black table surface, with fingers closing and adjusting around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and lowers it to fit onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "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 purple rod without moving."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "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 green block on the wooden base peg downward along the peg axis."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1799, "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 dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "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 table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1941, "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 cylindrical block with the purple rod and inserts it downwards onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upwards away from the purple rod after releasing the block."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "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 position next to the purple rod on the wooden base toward the white hexagonal block on the table, without touching the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2017, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "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 upper white hexagonal block on the right table surface, closing its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2137, "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 and moves the white hexagonal block upward and leftward to the area above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2211, "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 fits the white hexagonal block onto the purple vertical rod, lowering it until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2227, "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 hexagonal block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves toward the lower white hexagonal block on the right table surface and makes initial contact to start grasping."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "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 its fingers to grasp the white cubic block resting on the right side of the table."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and moves the white cubic block upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand assembles the white cubic block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the top of the purple-capped white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2482, "end_step": 2511, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cube on the table, empty."}, {"label": "subtasks", "start_step": 2512, "end_step": 2571, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2617, "id": "reasoning-language-00064", "text": "Left 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 surface and transports it towards the white bottle rack on the table."}, {"label": "subtasks", "start_step": 2618, "end_step": 2691, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand moves the green block downward and mates it onto the top of the front-right white bottle on the rack."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00066", "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 on the bottle top and retreats slightly away from the rack."}], "episode_index": 6}
+{"source_uid": "70ac78edae8af9d2", "num_frames": 2788, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block closest to the wooden assembly base with fingers held open."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "d6abbb2f-1f64-4357-b8f7-60815e6bdde2"}, {"label": "valid", "start_step": 0, "end_step": 2758, "id": "kiOUSymr31f3lLFiu5iWi"}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand or the gripped block."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 201, "end_step": 335, "id": "f2513c8f-e200-4430-87f2-03568c4262ab"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg against the wooden base with no observable movement."}, {"label": "goal", "start_step": 336, "end_step": 475, "id": "d6363fd3-3ca9-4fa9-bd6b-3fbd6439c7cd"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block base toward the white hexagonal nut on the table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grasp around the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 476, "end_step": 615, "id": "7afe444d-2b77-4799-b95d-39067c0c560b"}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand moves the grasped white hexagonal nut upward off the black table surface toward the purple vertical pegs on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand makes small positional and orientational adjustments to align the central hole of the white hexagonal nut with the target purple peg on the assembly."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the aligned white hexagonal nut onto the top of the stacked parts on the purple peg until the nut is stably supported by the piece below it."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the position near the wooden block assembly toward the white hexagonal nut on the black table surface, with fingers extended."}, {"label": "goal", "start_step": 616, "end_step": 730, "id": "f3c7ae4c-70cc-4f97-86be-c530d0151d24"}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions slightly to form a grip."}, {"label": "goal", "start_step": 731, "end_step": 905, "id": "1e83b525-bca0-4712-95d3-d904eeaf5c54"}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple peg and moves the nut downward to fit onto the peg."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked block assembly toward the white hexagonal nut positioned directly in front of the wooden base, keeping fingers open as it approaches the target without making contact."}, {"label": "goal", "start_step": 906, "end_step": 1015, "id": "9cb3d466-0dde-42af-85f4-c1f5dfc33640"}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal nut in front of the wooden base, making continuous small adjustments to finger positions and contact points to form a stable grip on the nut."}, {"label": "goal", "start_step": 1016, "end_step": 1175, "id": "2472f292-22c7-4949-8d08-e1ed301c7cea"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal cylinder completely off the dark table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand moves horizontally to carry the lifted white hexagonal cylinder over the purple rod mounted on the wooden block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal cylinder with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal cylinder that is fitted on the purple rod."}, {"label": "goal", "start_step": 1176, "end_step": 1280, "id": "62c934ff-94f3-4fe3-977c-3210c3c5c5e4"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the block assembly area toward the green hexagonal block on the table, remaining empty before contact."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers adjust positions and close to establish grip on the block."}, {"label": "goal", "start_step": 1281, "end_step": 1415, "id": "5d43fb45-9d3b-400f-b5de-a88752041a78"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the black table surface and transports it upward and toward the empty slot on the wooden block assembly tray."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the green hexagonal block into the empty slot on the wooden tray, adjusting its position slightly until the block is stably supported by the tray surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty above the wooden block tray with no obvious displacement."}, {"label": "goal", "start_step": 1416, "end_step": 1525, "id": "530ee3db-3f3e-4613-9778-aa9e665a5cdf"}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal nut placed on the dark table surface, staying empty and making no contact with objects during movement."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand gradually closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts the block upward until it is completely raised off the table."}, {"label": "goal", "start_step": 1526, "end_step": 2050, "id": "5cb54158-73c8-43e4-8fa5-987eeff25780"}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the misaligned white hexagonal block, which falls back down to the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions around the white hexagonal block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block upward until it is completely raised off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block fully."}, {"label": "goal", "start_step": 2051, "end_step": 2120, "id": "43085df2-5034-446f-a513-b602c1ec3c1e"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block adjacent to the wooden block tray, with fingers open."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to form contact with the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white cylindrical block resting on the black table surface, lifting the block upward until it is completely lifted off the table surface."}, {"label": "goal", "start_step": 2121, "end_step": 2245, "id": "881b689e-af26-4513-bd3d-5439c8f31061"}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical block, moving it upward and rightward to the position above the target assembly spot on the wooden block base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the held white cylindrical block, aligning it with the target mounting position on the wooden block base for assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place_release: Right hand lowers the aligned white cylindrical block down onto the target mounting position on the wooden base until the block is supported by the base, with fingers opening to release grip on the block."}, {"label": "goal", "start_step": 2246, "end_step": 2330, "id": "19f48373-6e08-4a91-8661-ff1baac47913"}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand releases the purple cylindrical object positioned on the wooden block assembly, opening its fingers to break contact with the object."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward as an empty hand toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2324, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to its finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white hollow cylinder resting on the dark table surface, lifts the cylinder vertically upward until it is completely separated from the table surface."}, {"label": "goal", "start_step": 2331, "end_step": 2460, "id": "014a70c8-6390-4b15-a4a9-045c7d0e401b"}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hollow cylinder horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2451, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the central hollow of the white cylinder with the purple vertical rod, slides the cylinder downward along the rod until it rests stably on the white support block beneath the rod."}, {"label": "subtasks", "start_step": 2452, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release_retreat: Right hand opens its fingers to release the stably seated white cylinder, breaks contact with the cylinder, and moves empty backward away from the wooden block assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the position near the white cylindrical objects, extending fingers to approach the green holed block placed on the dark table surface."}, {"label": "goal", "start_step": 2461, "end_step": 2550, "id": "fb92b60f-45ed-44d0-914f-9093fd8aaba7"}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed block on the table, adjusting finger contact positions to form a grasp on the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block and lifts it upward until the block is completely off the dark table surface."}, {"label": "goal", "start_step": 2551, "end_step": 2720, "id": "baca1f23-738f-402d-9da6-7bc2f4d803df"}, {"label": "subtasks", "start_step": 2572, "end_step": 2617, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and leftward toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the green hexagonal block into the empty slot on the wooden block rack until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2714, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the placed green hexagonal block in the rack slot without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block."}, {"label": "home", "start_step": 2759, "end_step": 2787, "id": "OMrLQX8V7U5Z26heMcQVz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block closest to the wooden assembly base with fingers held open."}, {"label": "subtasks", "start_step": 142, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block on the table without any observable movement of the hand or the gripped block."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table and moves it upward to position it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg against the wooden base with no observable movement."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the wooden block base toward the white hexagonal nut on the table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 368, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making small finger adjustments to form a secure grip on the nut."}, {"label": "subtasks", "start_step": 428, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface without visible movement or finger adjustment."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grasp around the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand moves the grasped white hexagonal nut upward off the black table surface toward the purple vertical pegs on the wooden assembly base."}, {"label": "subtasks", "start_step": 532, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand makes small positional and orientational adjustments to align the central hole of the white hexagonal nut with the target purple peg on the assembly."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the aligned white hexagonal nut onto the top of the stacked parts on the purple peg until the nut is stably supported by the piece below it."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the position near the wooden block assembly toward the white hexagonal nut on the black table surface, with fingers extended."}, {"label": "subtasks", "start_step": 660, "end_step": 757, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions slightly to form a grip."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and transports it upward toward the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the hole of the white hexagonal nut with the purple peg and moves the nut downward to fit onto the peg."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from above the stacked block assembly toward the white hexagonal nut positioned directly in front of the wooden base, keeping fingers open as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 938, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand contacts the white hexagonal nut in front of the wooden base, making continuous small adjustments to finger positions and contact points to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal cylinder completely off the dark table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand moves horizontally to carry the lifted white hexagonal cylinder over the purple rod mounted on the wooden block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the held white hexagonal cylinder with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal cylinder that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward from the block assembly area toward the green hexagonal block on the table, remaining empty before contact."}, {"label": "subtasks", "start_step": 1230, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, fingers adjust positions and close to establish grip on the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the black table surface and transports it upward and toward the empty slot on the wooden block assembly tray."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the green hexagonal block into the empty slot on the wooden tray, adjusting its position slightly until the block is stably supported by the tray surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: idle: Right hand remains empty above the wooden block tray with no obvious displacement."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward and forward toward the white hexagonal nut placed on the dark table surface, staying empty and making no contact with objects during movement."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand gradually closes fingers around the target white hexagonal nut on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white hexagonal block on the table surface and lifts the block upward until it is completely raised off the table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to attempt fitting it onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the misaligned white hexagonal block, which falls back down to the table surface."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves empty downward toward the fallen white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand adjusts its finger positions around the white hexagonal block on the table, closing fingers gradually to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block upward until it is completely raised off the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and back toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating the hand from the block fully."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves down and right toward the white hexagonal block adjacent to the wooden block tray, with fingers open."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small adjustments to form contact with the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white cylindrical block resting on the black table surface, lifting the block upward until it is completely lifted off the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical block, moving it upward and rightward to the position above the target assembly spot on the wooden block base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand makes slight positional and rotational adjustments to the held white cylindrical block, aligning it with the target mounting position on the wooden block base for assembly."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place_release: Right hand lowers the aligned white cylindrical block down onto the target mounting position on the wooden base until the block is supported by the base, with fingers opening to release grip on the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand releases the purple cylindrical object positioned on the wooden block assembly, opening its fingers to break contact with the object."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward as an empty hand toward the white hexagonal nut resting on the dark table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2324, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes its fingers around the white hexagonal nut on the dark table surface, making small adjustments to its finger positions to form a grip on the nut."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand holds the white hollow cylinder resting on the dark table surface, lifts the cylinder vertically upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted white hollow cylinder horizontally toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2451, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: mate: Right hand aligns the central hollow of the white cylinder with the purple vertical rod, slides the cylinder downward along the rod until it rests stably on the white support block beneath the rod."}, {"label": "subtasks", "start_step": 2452, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release_retreat: Right hand opens its fingers to release the stably seated white cylinder, breaks contact with the cylinder, and moves empty backward away from the wooden block assembly."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: reach: Right hand moves downward and to the right from the position near the white cylindrical objects, extending fingers to approach the green holed block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: grasp: Right hand closes fingers around the green holed block on the table, adjusting finger contact positions to form a grasp on the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: lift: Right hand grips the green hexagonal block and lifts it upward until the block is completely off the dark table surface."}, {"label": "subtasks", "start_step": 2572, "end_step": 2617, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and leftward toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: place: Right hand lowers the green hexagonal block into the empty slot on the wooden block rack until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2714, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: hold: Right hand holds the placed green hexagonal block in the rack slot without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty on the left side of the workspace with no observable movement throughout the segment. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating the hand from the block."}], "episode_index": 7}
+{"source_uid": "80925306f4308c02", "num_frames": 2376, "annotation_status": "loaded", "has_annotation": true, "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 with fingers slightly adjusting at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left side below the pegboard, with wrist rotating slightly to adjust orientation."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "a8d1231d-f41f-42e7-b202-43db2b66d4b6"}, {"label": "valid", "start_step": 0, "end_step": 2346, "id": "egHiGdatodoHU3nV2afBe"}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left side below the pegboard, with wrist rotating slightly to adjust orientation."}, {"label": "subtasks", "start_step": 142, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left side below the pegboard with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 171, "end_step": 310, "id": "3f6dc522-74f9-44e3-bf00-0de0503bb72f"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow hexagonal block off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hollow hexagonal block with the front-left purple peg and slides it down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hollow hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white annular part onto the purple peg of the wooden base, with fingers opening to release the part."}, {"label": "goal", "start_step": 311, "end_step": 395, "id": "0231759e-c640-4429-8fa6-154f7b0d0b59"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 352, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 396, "end_step": 595, "id": "623c6052-7757-48f0-be40-2a9c31f324bd"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 472, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 596, "end_step": 685, "id": "23cbcb92-761f-46e3-bf84-9d8f3a269d6f"}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area to approach the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table 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": 652, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 686, "end_step": 830, "id": "516ceb99-9612-442e-b941-f03c3766e8a1"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg and inserts it down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg of the wooden board, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 831, "end_step": 935, "id": "2c9a26f4-ebfd-4af4-b526-01d6e6fbc1b3"}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper 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 board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white perforated hexagonal block from the black table surface."}, {"label": "goal", "start_step": 936, "end_step": 1040, "id": "6f4b640f-da71-4ce1-9214-ab48a584a8b0"}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white perforated hexagonal block to above the rightmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the rightmost purple peg on the wooden rack by lowering and fitting it over the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white perforated hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1041, "end_step": 1120, "id": "0db777fd-d4f3-466c-a48a-f8103f80f984"}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper 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."}, {"label": "goal", "start_step": 1121, "end_step": 1220, "id": "038ac5bb-3aa5-4d28-8b65-d59146c0b682"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, sliding the block down along the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple rod on the right side of the block tower."}, {"label": "goal", "start_step": 1221, "end_step": 1315, "id": "abb51aa4-e585-460a-ba75-3c25297cfebf"}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "goal", "start_step": 1316, "end_step": 1440, "id": "584b149a-cb3e-4a8c-88ac-6cf90398b17f"}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical ring from the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical ring with the top of the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the white cylindrical ring down along the purple peg to the lower part of the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple vertical rod of the block tower."}, {"label": "goal", "start_step": 1441, "end_step": 1605, "id": "a80a7ab6-3431-4f12-9fd1-c55df47c01e9"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1522, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1606, "end_step": 1735, "id": "a0a74bd1-ae3c-46a0-a246-fa215ed8b1b5"}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple vertical rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the building block tower, with fingers opening gradually."}, {"label": "goal", "start_step": 1736, "end_step": 1845, "id": "0ddac444-9531-432d-b003-9b77d8aa74f7"}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1845, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white perforated block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1846, "end_step": 2015, "id": "a0f5d418-f32b-48b1-81af-1c3134ed8642"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table surface and transports it toward the purple vertical peg on the right wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple vertical peg by lowering it onto the peg for insertion."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press_reach: Right hand presses the top of the front-right purple-topped white cylinder on the wooden base before moving down-right toward the green cubic block on the dark table surface."}, {"label": "goal", "start_step": 2016, "end_step": 2135, "id": "a2fb646e-b62c-431f-864a-36a9dfe22762"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to fit into the hole on the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green perforated block on the right table surface, closing fingers to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 2136, "end_step": 2340, "id": "a6cbe7ae-148a-4b4d-ba04-a0199add0dc9"}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green perforated block off the table and moves it leftward and upward to the position above the purple-tipped target bottle on the tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green perforated block with the purple tip of the target bottle by aligning the hole and lowering the block onto the tip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the purple-tipped bottle without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green perforated block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the bottle array on the tray."}, {"label": "home", "start_step": 2347, "end_step": 2375, "id": "NQy6A1IMPF1e2HEmgkahh"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand raises upward with fingers slightly adjusting at the left side of the table. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left side below the pegboard, with wrist rotating slightly to adjust orientation."}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block on the left side below the pegboard, with wrist rotating slightly to adjust orientation."}, {"label": "subtasks", "start_step": 142, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left side below the pegboard with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow hexagonal block off the table and transports it to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hollow hexagonal block with the front-left purple peg and slides it down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hollow hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white annular part onto the purple peg of the wooden base, with fingers opening to release the part."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 352, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front-left purple peg of the rack."}, {"label": "subtasks", "start_step": 472, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front-left purple peg of the rack without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area to approach the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table 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": 652, "end_step": 674, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the dark table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg and inserts it down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the rightmost purple peg of the wooden board, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper 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 board."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 930, "end_step": 951, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white perforated hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white perforated hexagonal block to above the rightmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the rightmost purple peg on the wooden rack by lowering and fitting it over the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white perforated hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper 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."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, sliding the block down along the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple rod on the right side of the block tower."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1320, "end_step": 1357, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical ring from the black table surface and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical ring with the top of the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the white cylindrical ring down along the purple peg to the lower part of the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple vertical rod of the block tower."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1522, "end_step": 1604, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple vertical rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white block on the purple rod of the building block tower, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1845, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white perforated block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated block from the table surface and transports it toward the purple vertical peg on the right wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white perforated block with the purple vertical peg by lowering it onto the peg for insertion."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press_reach: Right hand presses the top of the front-right purple-topped white cylinder on the wooden base before moving down-right toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to fit into the hole on the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green perforated block on the right table surface, closing fingers to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green perforated block off the table and moves it leftward and upward to the position above the purple-tipped target bottle on the tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green perforated block with the purple tip of the target bottle by aligning the hole and lowering the block onto the tip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green perforated block on the purple-tipped bottle without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green perforated block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the bottle array on the tray."}], "episode_index": 8}
+{"source_uid": "1b0897dea3c34863", "num_frames": 2457, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly forward and adjusts its hand posture. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "b4f700de-93e3-4e70-8d85-f115f8f0e646"}, {"label": "valid", "start_step": 0, "end_step": 2427, "id": "SXi-9AgU7XFFSvCaWU5tK"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 82, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand reaches the green hexagonal block, with fingers closing and adjusting to establish a stable grasp on the block."}, {"label": "goal", "start_step": 176, "end_step": 350, "id": "f1eac18f-f050-4f7c-9a9d-d34d50462c1a"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_press: Right hand aligns the green block with the purple peg, fits it onto the peg, and presses it down to the base."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand releases the green block and moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 351, "end_step": 405, "id": "2ec68225-6e19-412b-94c9-de34c19b6f7d"}, {"label": "goal", "start_step": 406, "end_step": 565, "id": "6eac2c0c-cdd0-46ac-b5ef-ed42473883e2"}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 442, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base by opening its fingers."}, {"label": "goal", "start_step": 566, "end_step": 665, "id": "b62ef49c-cbdf-4a0c-a7f5-1b5842427f0b"}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and leftward toward the left white hexagonal block on the table, not contacting the object yet."}, {"label": "subtasks", "start_step": 592, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 666, "end_step": 935, "id": "6655269c-dd2c-4028-9f83-52ad0e9bbd66"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base by opening its fingers."}, {"label": "goal", "start_step": 936, "end_step": 1055, "id": "097442d7-7ceb-4473-a4eb-d692ff2e24a8"}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1056, "end_step": 1165, "id": "1565c796-4b2b-437d-bff6-f6c6a91f966e"}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylinder on the wooden base, fingers open to separate from the cylinder."}, {"label": "goal", "start_step": 1166, "end_step": 1265, "id": "c0b20f12-614d-47f6-8dca-671299f8bde5"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green square block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the tabletop, fingers close around the block to adjust stable grip."}, {"label": "goal", "start_step": 1266, "end_step": 1370, "id": "3f65679e-c1d6-4d61-ade8-ec15d081fb11"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod, lowering the block to fit onto the rod completely."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the wooden building block set towards the white hexagonal cylinder on the black table."}, {"label": "goal", "start_step": 1371, "end_step": 1495, "id": "af36c6a1-4de7-439d-8e70-a2c527f34578"}, {"label": "subtasks", "start_step": 1418, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the white hexagonal cylinder on the black table."}, {"label": "goal", "start_step": 1496, "end_step": 1630, "id": "00348f5c-e044-4d45-817d-c53e779a275b"}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden base with green blocks."}, {"label": "goal", "start_step": 1631, "end_step": 1750, "id": "7d0ce62e-47b0-4d55-932e-8604ec19dc1d"}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the tabletop."}, {"label": "goal", "start_step": 1751, "end_step": 1895, "id": "ddd3c27e-4743-4105-8d20-d94cc6078e0a"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1800, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the rod."}, {"label": "goal", "start_step": 1896, "end_step": 1960, "id": "5bd567d4-ac0d-40fd-8989-6f715e2ad9bb"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface with slight adjustment."}, {"label": "goal", "start_step": 1961, "end_step": 2130, "id": "367b1a93-88ab-4328-9a5e-a46e668ef2b2"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down to fully fit onto the purple rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the area near the white bottle group toward the green block on the table."}, {"label": "goal", "start_step": 2131, "end_step": 2255, "id": "cf7ceb41-26bd-4f64-8d1a-570414ed699d"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the black table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the right black table surface."}, {"label": "goal", "start_step": 2256, "end_step": 2390, "id": "64cc249a-5ffe-4d85-bd32-6bd6fb928fcd"}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden tray with white cylinders."}, {"label": "subtasks", "start_step": 2318, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the target white cylinder on the tray and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the white cylinder."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves backward away from the tray after releasing the block."}, {"label": "home", "start_step": 2428, "end_step": 2456, "id": "0u5CWaWFfLPKkV9Lp5Ipq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand moves slightly forward and adjusts its hand posture. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves forward towards the green hexagonal block on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 82, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand reaches the green hexagonal block, with fingers closing and adjusting to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_press: Right hand aligns the green block with the purple peg, fits it onto the peg, and presses it down to the base."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand releases the green block and moves toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 442, "end_step": 531, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward and leftward toward the left white hexagonal block on the table, not contacting the object yet."}, {"label": "subtasks", "start_step": 592, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 892, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base by opening its fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface, adjusting the grip to form a stable grasp."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylinder on the wooden base, fingers open to separate from the cylinder."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward towards the green square block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the green square block on the tabletop, fingers close around the block to adjust stable grip."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green block onto the purple rod, lowering the block to fit onto the rod completely."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the wooden building block set towards the white hexagonal cylinder on the black table."}, {"label": "subtasks", "start_step": 1418, "end_step": 1507, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the white hexagonal cylinder on the black table."}, {"label": "subtasks", "start_step": 1508, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden base with green blocks."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the tabletop near the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1769, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the tabletop."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1800, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface with slight adjustment."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2070, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white hexagonal block down to fully fit onto the purple rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward from the area near the white bottle group toward the green block on the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: hold: Right hand holds the green block on the black table without moving."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the right black table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the wooden tray with white cylinders."}, {"label": "subtasks", "start_step": 2318, "end_step": 2377, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the target white cylinder on the tray and inserts it onto the cylinder."}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the white cylinder."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves backward away from the tray after releasing the block."}], "episode_index": 9}
+{"source_uid": "b3379dcbbd475354", "num_frames": 2428, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the central wooden base."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "55f34aea-4555-4833-895b-3233f7e1064c"}, {"label": "valid", "start_step": 0, "end_step": 2399, "id": "xCdlio7KrvHw3AMxGSmkP"}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the top of the peg on the wooden base."}, {"label": "goal", "start_step": 271, "end_step": 400, "id": "d5704105-5e32-4fad-b0e8-793a58f71f9b"}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg by inserting the peg into the hole of the green block."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green block down along the peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green block with fingers slightly opening."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 401, "end_step": 510, "id": "a010187d-0ee6-4c60-a3d0-9e5d3d05db41"}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 511, "end_step": 700, "id": "b8e3b468-cbca-4c72-810e-65ce3b5d5d17"}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack by lowering it down to fit the post."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats from the wooden rack."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 701, "end_step": 790, "id": "ebe5b2e4-1a5e-4539-b06b-6d03f25c83ee"}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close and adjust to form a stable grip."}, {"label": "goal", "start_step": 791, "end_step": 915, "id": "5b6f1b54-983b-4d9a-a8d0-7d09dc1cc420"}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the wooden peg rack at the upper right area of the desktop."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost peg on the wooden rack, lowering the block onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, fingers opening to separate from the block."}, {"label": "goal", "start_step": 916, "end_step": 1030, "id": "075ef8a0-5e4b-45a0-826f-5bf933d466b9"}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1031, "end_step": 1150, "id": "fb5bf119-4d73-4b6d-bac1-ba93077816d4"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the rightmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the rightmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block with fingers opening slightly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden block rack towards the green hexagonal block on the table."}, {"label": "goal", "start_step": 1151, "end_step": 1215, "id": "4c072fcf-fd94-4cef-8032-eef5b3d57520"}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to adjust for stable grip."}, {"label": "goal", "start_step": 1216, "end_step": 1365, "id": "cbaa2d5a-fcf2-4152-ac67-d511f182f518"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green hexagonal block and separates its fingers from the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1366, "end_step": 1470, "id": "0eda5ba9-7099-4431-a9de-0321fb829c25"}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1471, "end_step": 1615, "id": "1f5f6747-3896-45a0-a8dc-16eb22e98f3a"}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block, separating from the object."}, {"label": "subtasks", "start_step": 1605, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal cylinder on the table next to the wooden base."}, {"label": "goal", "start_step": 1616, "end_step": 1695, "id": "7747a41c-31e2-4f28-9fc1-2905674ff2b8"}, {"label": "subtasks", "start_step": 1650, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a grasp on the white hexagonal cylinder on the table."}, {"label": "goal", "start_step": 1696, "end_step": 1870, "id": "e0336b1d-a518-4304-88d2-97bd56d71222"}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1859, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand aligns the white hexagonal block with the purple rod and places it down onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1871, "end_step": 1950, "id": "ce91f8bd-a9b3-46f1-8975-28fa1c5d6c8f"}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the white cylinder on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylinder on the black table."}, {"label": "goal", "start_step": 1951, "end_step": 2085, "id": "30f4800f-8738-4647-843b-72a00c39521b"}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white cylindrical block from its grasp."}, {"label": "goal", "start_step": 2086, "end_step": 2175, "id": "eb915605-0775-46d4-8bbc-37e4db8c3f69"}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right side of the table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block from the table surface."}, {"label": "goal", "start_step": 2176, "end_step": 2360, "id": "8af7bf7d-dce4-48e6-939a-d9e82118741b"}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green block towards the protruding white cylinder on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the protruding white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green block that is fitted onto the white cylinder."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand retreats away from the wooden tray."}, {"label": "home", "start_step": 2400, "end_step": 2427, "id": "gTjEe0MjpZEGP9SYDOkEK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the leftmost purple rod of the central wooden base."}, {"label": "subtasks", "start_step": 90, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the top of the peg on the wooden base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block with the peg by inserting the peg into the hole of the green block."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green block down along the peg to make it fit tightly on the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green block with fingers slightly opening."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the stacking base towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 435, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to close around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to above the purple post of the wooden rack."}, {"label": "subtasks", "start_step": 570, "end_step": 674, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden rack by lowering it down to fit the post."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats from the wooden rack."}, {"label": "subtasks", "start_step": 690, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden block set toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 801, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 839, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the wooden peg rack at the upper right area of the desktop."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost peg on the wooden rack, lowering the block onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block on the peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 922, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1041, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the top of the rightmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand fits the white hexagonal block onto the rightmost purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white hexagonal block with fingers opening slightly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward from the wooden block rack towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table to adjust for stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1282, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green hexagonal block and separates its fingers from the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1410, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple rod on the wooden base and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block, separating from the object."}, {"label": "subtasks", "start_step": 1605, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal cylinder on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand adjusts fingers to form a grasp on the white hexagonal cylinder on the table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1762, "end_step": 1859, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: place: Right hand aligns the white hexagonal block with the purple rod and places it down onto the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves downward towards the white cylinder on the black table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylinder on the black table."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the white cylindrical block from its grasp."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right side of the table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: lift: Right hand lifts the green block from the table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2241, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: transport: Right hand transports the green block towards the protruding white cylinder on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: mate: Right hand mates the green block onto the protruding white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: release: Right hand releases the green block that is fitted onto the white cylinder."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating table without moving. | Right hand: retreat: Right hand retreats away from the wooden tray."}], "episode_index": 10}
+{"source_uid": "14e48d05203c68a4", "num_frames": 2591, "annotation_status": "loaded", "has_annotation": true, "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: return_home: Left hand moves slightly inward and downward from its initial raised left position to the natural home position in front of the body, adjusting fingers from an extended posture to a relaxed slightly closed posture. | Right hand: reach: Right hand moves left and downward from its initial raised right position toward the green hexagonal block on the black table in front of the wooden peg stand, adjusting fingers continuously as it approaches without making contact with the target."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "6d8e5d84-1657-48e5-8688-e1743262be1a"}, {"label": "valid", "start_step": 0, "end_step": 2562, "id": "eEeJTRf1ytrokP5iqPUT1"}, {"label": "subtasks", "start_step": 30, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves left and downward from its initial raised right position toward the green hexagonal block on the black table in front of the wooden peg stand, adjusting fingers continuously as it approaches without making contact with the target."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block on the table, with the index finger contacting the block's top surface and other fingers adjusting to establish a stable grip."}, {"label": "goal", "start_step": 201, "end_step": 335, "id": "0b271689-5643-4a29-a45e-7ec2ec31c557"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden assembly base, lowers the block to slide it onto the peg until it rests stably on the base."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand releases the green block positioned on the purple peg of the wooden base, fingers opening to separate from the block."}, {"label": "goal", "start_step": 336, "end_step": 445, "id": "519ab2e5-f640-45c5-a1d4-7767edd4bb3e"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 382, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the target white hexagonal block, fingers closing and making minor adjustments to establish a grasp on the block."}, {"label": "goal", "start_step": 446, "end_step": 620, "id": "1b6c6e69-9833-41e5-a7b8-50cd32f421ea"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod on the wooden base, makes slight positional adjustments, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: retreat: Right hand moves empty downward away from the wooden block assembly toward the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the front white hexagonal nut on the table surface with fingers extended."}, {"label": "goal", "start_step": 621, "end_step": 700, "id": "f50ed57b-62b6-4194-b99d-bb2304a006ca"}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut, adjusting finger positions to form a grip on the nut resting on the table."}, {"label": "goal", "start_step": 701, "end_step": 920, "id": "27e40d7f-845c-439a-b006-b17fbb75f288"}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 758, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty purple peg, adjusts its position with slight wrist movements, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white hexagonal nut secured on the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: retreat: Right hand moves backward away from the wooden assembly base while remaining empty."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the pegboard, with fingers slightly open."}, {"label": "goal", "start_step": 921, "end_step": 1015, "id": "143ce632-7b5b-4687-899a-bdfc9b6be81c"}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to the grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal block on the table steadily without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the block rack to establish a stable grasp."}, {"label": "goal", "start_step": 1016, "end_step": 1215, "id": "afd0b73d-82cc-44c4-9b8b-e45eb3a296eb"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand adjusts the position and orientation of the grasped white hexagonal block to align its central hole with the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg until it is stably supported by the block rack."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block on the purple peg and moves the empty hand away from the assembly position."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward empty from the area near the purple peg toward the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1216, "end_step": 1365, "id": "b62d0808-77cb-42ba-821a-77f7a9e9aa6c"}, {"label": "subtasks", "start_step": 1238, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions repeatedly to form a stable grip without lifting the block."}, {"label": "goal", "start_step": 1366, "end_step": 1510, "id": "0815b73d-ac62-4b07-80c6-81ce40ab12b9"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and toward the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, positioning the block to fit onto the post."}, {"label": "subtasks", "start_step": 1500, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty from the wooden block assembly area toward the white hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 1511, "end_step": 1610, "id": "dcff6674-530d-4a56-bfb9-ea6107027c60"}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the dark table surface, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 1611, "end_step": 1755, "id": "9373afc3-a167-4313-a57c-3bf22b8b709d"}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand moves the grasped white hexagonal block horizontally toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "goal", "start_step": 1756, "end_step": 1865, "id": "a4e8e8d9-bdeb-4de9-b933-d6427670bbf6"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves from the area adjacent to the stacked block set toward the white hexagonal block on the nearby table surface, with fingers extended as it approaches the target object."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small positional adjustments to the fingers to establish a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, lifts the block upward until it is fully separated from the table surface."}, {"label": "goal", "start_step": 1866, "end_step": 2025, "id": "337f7be2-1b8b-4841-8bb8-13da8da90033"}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and rightward to the position directly above the empty vertical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2017, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand holds the white hexagonal block, aligns the block's central hole with the wooden peg below, and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: place_release: Right hand lowers the white hexagonal block onto the wooden rack surface until the block is stably supported, fingers opening to release hold of the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: idle: Right hand stays empty near the stacked blocks on the wooden base, with the index finger close to the purple rod, without noticeable movement."}, {"label": "goal", "start_step": 2026, "end_step": 2120, "id": "75545611-52db-4f77-8977-a4bc00b95571"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward and to the right from the area near the wooden block base, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the white hexagonal nut on the dark table surface, adjusting finger positions and closing fingers to establish a grip on the nut, which remains on the table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward from the dark table surface."}, {"label": "goal", "start_step": 2121, "end_step": 2280, "id": "d4aad5af-a27d-4011-9299-5935a49ddafe"}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white cylindrical block toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward from the position near the stacked white bottles toward the green cube on the lower right table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 2281, "end_step": 2375, "id": "b260f766-eed3-47a3-a72e-36e54d5262ad"}, {"label": "subtasks", "start_step": 2325, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the green cube, fingers close and make slight adjustments to establish a stable grasp, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 2376, "end_step": 2525, "id": "54072232-bc70-4b19-a329-0c47d308de5f"}, {"label": "subtasks", "start_step": 2392, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface, transporting it upward and leftward to the position directly above the purple post on the stacked block assembly."}, {"label": "subtasks", "start_step": 2438, "end_step": 2527, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the purple post, moving the block downward to fit it onto the post until it contacts the supporting block below."}, {"label": "subtasks", "start_step": 2528, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the green hollow block, which rests stably on the stacked block assembly."}, {"label": "home", "start_step": 2563, "end_step": 2590, "id": "PTHsoV-Zjzd8qaz1hTjVM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves slightly inward and downward from its initial raised left position to the natural home position in front of the body, adjusting fingers from an extended posture to a relaxed slightly closed posture. | Right hand: reach: Right hand moves left and downward from its initial raised right position toward the green hexagonal block on the black table in front of the wooden peg stand, adjusting fingers continuously as it approaches without making contact with the target."}, {"label": "subtasks", "start_step": 30, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves left and downward from its initial raised right position toward the green hexagonal block on the black table in front of the wooden peg stand, adjusting fingers continuously as it approaches without making contact with the target."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block on the table, with the index finger contacting the block's top surface and other fingers adjusting to establish a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden assembly base, lowers the block to slide it onto the peg until it rests stably on the base."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand releases the green block positioned on the purple peg of the wooden base, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface, staying empty while approaching the target."}, {"label": "subtasks", "start_step": 382, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the target white hexagonal block, fingers closing and making minor adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod on the wooden base, makes slight positional adjustments, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: retreat: Right hand moves empty downward away from the wooden block assembly toward the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the front white hexagonal nut on the table surface with fingers extended."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut, adjusting finger positions to form a grip on the nut resting on the table."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it upward to the position above the empty purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 758, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal nut with the empty purple peg, adjusts its position with slight wrist movements, and fits the nut onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 899, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white hexagonal nut secured on the purple peg."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: retreat: Right hand moves backward away from the wooden assembly base while remaining empty."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the pegboard, with fingers slightly open."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to the grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal block on the table steadily without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table near the block rack to establish a stable grasp."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1065, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand adjusts the position and orientation of the grasped white hexagonal block to align its central hole with the purple peg on the block rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: place: Right hand moves the aligned white hexagonal block downward along the purple peg until it is stably supported by the block rack."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block on the purple peg and moves the empty hand away from the assembly position."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward empty from the area near the purple peg toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions repeatedly to form a stable grip without lifting the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward and toward the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple post, positioning the block to fit onto the post."}, {"label": "subtasks", "start_step": 1500, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty from the wooden block assembly area toward the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1627, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the dark table surface, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand moves the grasped white hexagonal block horizontally toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, breaking contact with the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves from the area adjacent to the stacked block set toward the white hexagonal block on the nearby table surface, with fingers extended as it approaches the target object."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small positional adjustments to the fingers to establish a grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, lifts the block upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white hexagonal block, moving it upward and rightward to the position directly above the empty vertical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2017, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand holds the white hexagonal block, aligns the block's central hole with the wooden peg below, and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: place_release: Right hand lowers the white hexagonal block onto the wooden rack surface until the block is stably supported, fingers opening to release hold of the block."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: idle: Right hand stays empty near the stacked blocks on the wooden base, with the index finger close to the purple rod, without noticeable movement."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward and to the right from the area near the wooden block base, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the white hexagonal nut on the dark table surface, adjusting finger positions and closing fingers to establish a grip on the nut, which remains on the table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward from the dark table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: transport: Right hand carries the lifted white cylindrical block toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and moves the block downward to fit onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted onto the purple rod."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward from the position near the stacked white bottles toward the green cube on the lower right table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2325, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: grasp: Right hand contacts the green cube, fingers close and make slight adjustments to establish a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hollow block off the table surface, transporting it upward and leftward to the position directly above the purple post on the stacked block assembly."}, {"label": "subtasks", "start_step": 2438, "end_step": 2527, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green hollow block with the purple post, moving the block downward to fit it onto the post until it contacts the supporting block below."}, {"label": "subtasks", "start_step": 2528, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the home position, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the green hollow block, which rests stably on the stacked block assembly."}], "episode_index": 11}
+{"source_uid": "082ee6e06d6b4a89", "num_frames": 2768, "annotation_status": "loaded", "has_annotation": true, "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: reach: Left hand moves upward and rightward toward the central building block area with fingers slightly open. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left side of the table, with fingers slightly open and wrist rotating slightly."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "411dd6cd-9900-4be9-bf88-8ea90e6895b3"}, {"label": "valid", "start_step": 0, "end_step": 2738, "id": "CGxqPqm_2oie7JWP6g7e6"}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left side of the table, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 196, "end_step": 325, "id": "78792c0e-05d3-470c-b420-d78071494fa7"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper 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 position above the wooden peg board."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "goal", "start_step": 326, "end_step": 410, "id": "1c06f423-ead4-4f72-a180-46eac9303e9c"}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 345, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 411, "end_step": 535, "id": "f79412c4-3f77-4f1f-98fd-5afbc7239dbb"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost purple peg and releases the part."}, {"label": "goal", "start_step": 536, "end_step": 655, "id": "7311e0b1-a4b6-4b16-96dd-a75c66be995c"}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the right area of the table without moving."}, {"label": "goal", "start_step": 656, "end_step": 995, "id": "9b132999-916e-4934-bdda-34c0a83dbea4"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the front-left purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 735, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: other:adjust_part_position_on_peg: Right hand adjusts the position of the white hexagonal part on the front-left purple peg with small repeated up-and-down movements."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the right purple peg and releases the block."}, {"label": "goal", "start_step": 996, "end_step": 1085, "id": "f159aca7-ec9d-428d-b9af-7dbdc0b3b542"}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1086, "end_step": 1195, "id": "e4c9216b-56ff-45d6-ad4e-4ccdc95ec5cb"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the black table surface toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the right purple vertical post on the wooden base, then releases the part."}, {"label": "goal", "start_step": 1196, "end_step": 1295, "id": "63e86983-3d88-4d0f-8788-3f0b737a955c"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the left green hexagonal part on the black table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the left green hexagonal part on the black table surface, with fingers closing and adjusting around the part to establish a stable grip."}, {"label": "goal", "start_step": 1296, "end_step": 1435, "id": "aea9e505-d5ca-4377-af98-e5ed252c889e"}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand fits the green ring-shaped piece onto the middle gray peg and releases the piece."}, {"label": "goal", "start_step": 1436, "end_step": 1550, "id": "4421edb8-5f0a-4734-a25a-c6a435e2d130"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1551, "end_step": 1805, "id": "213e0792-6f0a-45ff-a743-ea74ecca4f7a"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden rack and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder on the purple rod, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 1806, "end_step": 1930, "id": "07637433-5b39-4c5a-a7b0-3d9dcf4c9bed"}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the right side of the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1890, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the dark table surface, adjusting its finger grip to stabilize the object."}, {"label": "goal", "start_step": 1931, "end_step": 2165, "id": "ef6a4ac6-c471-4934-9430-c7a2e04686a4"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple vertical rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2018, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal cylinder, moving upward and separating from the object."}, {"label": "goal", "start_step": 2166, "end_step": 2255, "id": "768e63b7-3c5f-495f-b18f-55ac781669b1"}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around it."}, {"label": "goal", "start_step": 2256, "end_step": 2395, "id": "3e2984a7-62d6-483a-ade6-acb86be48db0"}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white perforated cube with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand inserts the purple small component into the top of the front-right white bottle and releases the component."}, {"label": "goal", "start_step": 2396, "end_step": 2510, "id": "130ea8e0-e4d9-42a7-9671-17375a67c3c1"}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2511, "end_step": 2700, "id": "5b2ca628-6c20-48c6-b39d-5a7a3b089640"}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the white bottle set on the wooden base in the middle of the table."}, {"label": "subtasks", "start_step": 2580, "end_step": 2691, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the rightmost white bottle on the wooden base, aligning and fitting the block into place."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release_retreat: Right hand releases the green block by opening its fingers and moves slightly away from the bottle."}, {"label": "home", "start_step": 2739, "end_step": 2767, "id": "P28OLX1n_Mqv6DYJGiKyn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and rightward toward the central building block area with fingers slightly open. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left side of the table, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the left side of the table, with fingers slightly open and wrist rotating slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper 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 position above the wooden peg board."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 315, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple peg of the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 345, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the hole and lowering the block down."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical part onto the leftmost purple peg and releases the part."}, {"label": "subtasks", "start_step": 562, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the black table."}, {"label": "subtasks", "start_step": 592, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the right area of the table without moving."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it toward the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the front-left purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 735, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: other:adjust_part_position_on_peg: Right hand adjusts the position of the white hexagonal part on the front-left purple peg with small repeated up-and-down movements."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the right purple peg and releases the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table adjacent to the wooden peg base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal part from the black table surface toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand mates the white ring-shaped part onto the right purple vertical post on the wooden base, then releases the part."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the left green hexagonal part on the black table surface, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the left green hexagonal part on the black table surface, with fingers closing and adjusting around the part to establish a stable grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand fits the green ring-shaped piece onto the middle gray peg and releases the piece."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden rack and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hollow cylinder on the purple rod, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the right side of the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 1890, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the dark table surface, adjusting its finger grip to stabilize the object."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it leftward toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple vertical rod and lowers it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2018, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal cylinder, moving upward and separating from the object."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated cube off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white perforated cube with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand inserts the purple small component into the top of the front-right white bottle and releases the component."}, {"label": "subtasks", "start_step": 2422, "end_step": 2444, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the white bottle set on the wooden base in the middle of the table."}, {"label": "subtasks", "start_step": 2580, "end_step": 2691, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the rightmost white bottle on the wooden base, aligning and fitting the block into place."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release_retreat: Right hand releases the green block by opening its fingers and moves slightly away from the bottle."}], "episode_index": 12}
+{"source_uid": "71819b3ef426acdf", "num_frames": 2567, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger posture from an open extended position to a closed resting position, staying empty on the left side of the workspace. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger posture from an open extended position to a closed ready position, staying empty on the right side of the workspace."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "06d94fe6-7ac2-4366-ad89-aa908dd3ea82"}, {"label": "valid", "start_step": 0, "end_step": 2539, "id": "FF_vOCvtiO7cAz_OrZ0dT"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger posture from an open extended position to a closed ready position, staying empty on the right side of the workspace."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves down and left toward the scattered hexagonal blocks on the table surface, remaining empty and not yet contacting any target object."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block placed near the wooden peg base on the table."}, {"label": "goal", "start_step": 176, "end_step": 385, "id": "3cb2b64b-3e27-4179-89e8-bc16e26bf225"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and presses it down to fit the block securely onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block located on the table among the scattered blocks."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its finger positions to establish a grasp on the white hexagonal block on the table."}, {"label": "goal", "start_step": 386, "end_step": 430, "id": "db8d8348-a836-4b9f-a53c-18eec9136ab1"}, {"label": "goal", "start_step": 431, "end_step": 565, "id": "258c53d4-c992-4b52-aa1a-29cb9ee44ccd"}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface and transports it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and adjusts its position to fit the nut down onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base, releasing fingers to separate from the placed block."}, {"label": "goal", "start_step": 566, "end_step": 675, "id": "cf6d4b29-f7f7-4ffa-9c2f-19112751a129"}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward with an open hand from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface, adjusting finger positions to form a grip on the block."}, {"label": "goal", "start_step": 676, "end_step": 915, "id": "e09bf6ca-b800-4af3-8a0e-e316d58200b1"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, fully raising it off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the held white hexagonal nut upward and backward through the air toward the purple peg mounted on the light wooden assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand slightly rotates the held white hexagonal nut to align its central hole with the target purple peg, lowering the nut to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the loose white hexagonal nut on the table surface, with fingers slightly open, approaching the nut without establishing contact."}, {"label": "goal", "start_step": 916, "end_step": 1040, "id": "c9b2d6b9-970a-4cf5-8954-09e24277c432"}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut on the table, fingers gradually close around the nut with small adjustments to hand and finger positions to form a grip, with the nut remaining on the table surface throughout."}, {"label": "goal", "start_step": 1041, "end_step": 1190, "id": "00c8f8c5-e807-49f6-b4bc-de76ade8e960"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple vertical rod and slides it down the rod, making small positional adjustments to complete the fitting."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal cylinder on the purple rod, pulling fingers slightly away from the object."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, with fingers open."}, {"label": "goal", "start_step": 1191, "end_step": 1275, "id": "99909f4d-19c5-4673-97aa-5f2b923e7ea3"}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface, making slight adjustments to establish grip."}, {"label": "goal", "start_step": 1276, "end_step": 1435, "id": "6cf803ab-70d6-4939-a72d-57514161b9c3"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1424, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple rod on the wooden base, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the green hexagonal block placed on the purple peg of the wooden assembly base, fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 1436, "end_step": 1545, "id": "c9c81a2e-4ed2-4e66-b9b9-e67ede70f3e9"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the assembly base area toward the white hexagonal block on the black table surface, approaching the target block without contact."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting position to form a grip on the block."}, {"label": "goal", "start_step": 1546, "end_step": 1795, "id": "51024ca1-703e-4303-b27c-5cc3b214b7a5"}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1747, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the base, adjusting the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly base without observable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the wooden assembly stand, separating from the block."}, {"label": "goal", "start_step": 1796, "end_step": 1910, "id": "082e0b4b-0e9b-44a9-a1d8-8f6e3c3c129a"}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the table near the wooden assembly stand, with fingers held in an extended posture."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, making small positional adjustments of the fingers to establish a grasp."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, and lifts the block upward."}, {"label": "goal", "start_step": 1911, "end_step": 2075, "id": "6d7c397a-3c65-4fd0-86f7-289df38f874c"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple vertical rod, and lowers the block to nest it onto the rod until it rests on the stacked white block below."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the loose white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach_grasp: Right hand moves down to the white hexagonal block on the table, closes fingers and adjusts grip to securely grasp the block which remains supported by the table surface."}, {"label": "goal", "start_step": 2076, "end_step": 2125, "id": "782f4724-db73-4586-bd4b-f1f235724758"}, {"label": "goal", "start_step": 2126, "end_step": 2255, "id": "e5851f01-13d1-4b8d-aa78-9f0c358d17ad"}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transports it upward and toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowers the block to fit it onto the rod to establish the assembled connection."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block on the purple rod, moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the green square block on the lower right area of the dark table, keeping fingers slightly open as it approaches the target block."}, {"label": "goal", "start_step": 2256, "end_step": 2350, "id": "7565131e-19d0-4445-a629-87cd84a3d0cb"}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the green square block, adjusting finger positions and closing fingers around the block to form a stable grasp."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand grips the green block resting on the table surface, moves upward to lift the block completely off the table."}, {"label": "goal", "start_step": 2351, "end_step": 2500, "id": "bb07d634-74e5-4b4f-9dc8-69302ab618d9"}, {"label": "subtasks", "start_step": 2362, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block, moves it upward and leftward toward the white bottle with a purple stem on the wooden holder."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the green block downward to seat it onto the purple stem of the target white bottle, until the block is stably supported by the stem."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green block seated on the purple bottle stem without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers gradually to release the green block, separating from the block to terminate the grasp."}, {"label": "home", "start_step": 2540, "end_step": 2566, "id": "nPkQ7JLucBcV_kE6BOIOq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its finger posture from an open extended position to a closed resting position, staying empty on the left side of the workspace. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger posture from an open extended position to a closed ready position, staying empty on the right side of the workspace."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts its finger posture from an open extended position to a closed ready position, staying empty on the right side of the workspace."}, {"label": "subtasks", "start_step": 82, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves down and left toward the scattered hexagonal blocks on the table surface, remaining empty and not yet contacting any target object."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block placed near the wooden peg base on the table."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward to position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and presses it down to fit the block securely onto the peg."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that is fitted onto the purple peg."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block located on the table among the scattered blocks."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand adjusts its finger positions to establish a grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the table surface and transports it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and adjusts its position to fit the nut down onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg of the wooden assembly base, releasing fingers to separate from the placed block."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward with an open hand from the assembly base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table surface, adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward, fully raising it off the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the held white hexagonal nut upward and backward through the air toward the purple peg mounted on the light wooden assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand slightly rotates the held white hexagonal nut to align its central hole with the target purple peg, lowering the nut to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg without observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from above the wooden block base toward the loose white hexagonal nut on the table surface, with fingers slightly open, approaching the nut without establishing contact."}, {"label": "subtasks", "start_step": 975, "end_step": 1057, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the loose white hexagonal nut on the table, fingers gradually close around the nut with small adjustments to hand and finger positions to form a grip, with the nut remaining on the table surface throughout."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward to position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple vertical rod and slides it down the rod, making small positional adjustments to complete the fitting."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal cylinder on the purple rod, pulling fingers slightly away from the object."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface, with fingers open."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface, making slight adjustments to establish grip."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block completely off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1312, "end_step": 1424, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green hexagonal block to align its central hole with the purple rod on the wooden base, fitting the block onto the rod."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand releases the green hexagonal block placed on the purple peg of the wooden assembly base, fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward from the assembly base area toward the white hexagonal block on the black table surface, approaching the target block without contact."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers closing and adjusting position to form a grip on the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1747, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the base, adjusting the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod of the wooden assembly base without observable movement."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the wooden assembly stand, separating from the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward and rightward toward the loose white hexagonal nut on the table near the wooden assembly stand, with fingers held in an extended posture."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, making small positional adjustments of the fingers to establish a grasp."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface, and lifts the block upward."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and horizontally toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2017, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple vertical rod, and lowers the block to nest it onto the rod until it rests on the stacked white block below."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers to release the nested white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the loose white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach_grasp: Right hand moves down to the white hexagonal block on the table, closes fingers and adjusts grip to securely grasp the block which remains supported by the table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transports it upward and toward the purple vertical rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2241, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowers the block to fit it onto the rod to establish the assembled connection."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block on the purple rod, moves slightly upward away from the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: reach: Right hand moves downward toward the green square block on the lower right area of the dark table, keeping fingers slightly open as it approaches the target block."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: grasp: Right hand makes contact with the green square block, adjusting finger positions and closing fingers around the block to form a stable grasp."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: lift: Right hand grips the green block resting on the table surface, moves upward to lift the block completely off the table."}, {"label": "subtasks", "start_step": 2362, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: transport: Right hand carries the lifted green block, moves it upward and leftward toward the white bottle with a purple stem on the wooden holder."}, {"label": "subtasks", "start_step": 2415, "end_step": 2429, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: place: Right hand moves the green block downward to seat it onto the purple stem of the target white bottle, until the block is stably supported by the stem."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: hold: Right hand holds the green block seated on the purple bottle stem without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and completely stationary on the left side of the workspace with no observable movement. | Right hand: release: Right hand opens its fingers gradually to release the green block, separating from the block to terminate the grasp."}], "episode_index": 13}
+{"source_uid": "44e78d527b5ee0b8", "num_frames": 2411, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture while staying at the left side of the table, with no overall translation. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table to the left of the wooden peg base, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "e767a3ed-7119-47c8-881a-dcfb9d25b5d9"}, {"label": "valid", "start_step": 0, "end_step": 2382, "id": "IMtxJ7t4ZMWuDQ_cnMuGb"}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table to the left of the wooden peg base, with fingers slightly open."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip, the block remains on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 206, "end_step": 400, "id": "4d414a82-a6d4-4680-afce-db80bfcdca5c"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the black table and transports it upward and leftward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the hole of the green cubic block with the middle purple peg and inserts the block downward onto the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place_release: Right hand places the green hexagonal block onto the wooden base at the bottom of the leftmost purple peg and releases it."}, {"label": "goal", "start_step": 401, "end_step": 500, "id": "1114d7b0-d35a-4ace-91d5-238417d27e1d"}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 501, "end_step": 660, "id": "3026ffd9-33b1-4962-b42d-0271b54663d8"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal object onto the corresponding purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the purple cylindrical piece on the wooden base, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 661, "end_step": 760, "id": "772264af-1810-4a40-8541-a8dc2af1c9fa"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting around the piece."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 761, "end_step": 890, "id": "18e986d2-133e-47ff-a1a7-5d87663d8aa5"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the peg board on the right."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the board by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the peg assembly area towards the white hexagonal piece on the black table."}, {"label": "goal", "start_step": 891, "end_step": 1005, "id": "b9543a8b-185f-49e9-9724-7364d549c5dd"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the black table to establish a grip."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the table, fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1006, "end_step": 1145, "id": "6eb08c44-75e4-4b99-b8fd-d79aa15c07b3"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg, moving the block downward to fit the central hole over the peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white hexagonal block on the purple peg by opening its fingers, separating from the block."}, {"label": "goal", "start_step": 1146, "end_step": 1210, "id": "e3b2d063-aa23-4b96-8f44-14adba55c5b0"}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reorient_release: Right hand reorients and releases the white hexagonal block on the top-right peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1211, "end_step": 1325, "id": "586f1663-a17a-49a3-aa2a-b6f2e6dd063b"}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the top of the purple peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release_retreat: Right hand releases the green hexagonal block on the purple peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: idle: Right hand remains empty above the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place_release: Right hand places the white ring onto the purple vertical rod and releases its grip."}, {"label": "goal", "start_step": 1326, "end_step": 1435, "id": "6011698a-994e-45e4-b882-d6e1dde8e22d"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1436, "end_step": 1590, "id": "f051d21b-d50f-4f2e-a717-c27475b83689"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the white hexagonal block leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, lowering it along the rod until it is fully fitted."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the area near the purple rod on the wooden base to approach the white hexagonal block on the table close to the wooden base."}, {"label": "goal", "start_step": 1591, "end_step": 1680, "id": "46da9acd-a323-43c0-87a2-21194167f7c4"}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible 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": 1658, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the right side of the table, fingers closing around the piece."}, {"label": "goal", "start_step": 1681, "end_step": 1860, "id": "2982bd89-7525-497e-b990-588d80fed2d4"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the white hollow hexagonal piece with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place: Right hand lowers the white hollow hexagonal piece along the purple rod until it is supported by the white cylinder below."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white hollow hexagonal piece, fingers opening and moving away from the piece."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: idle: Right hand remains empty next to the purple rod without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the right side of the pegboard toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1861, "end_step": 1955, "id": "b26b7e25-4f2d-43ce-b3fe-2116ee47a8ae"}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white cylindrical object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1956, "end_step": 2105, "id": "ebcb088a-4c23-4a54-8f21-00a82a6474e7"}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the white cylindrical object off the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2091, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2099, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white cylindrical object, with fingers separating from the object."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: press: Right hand presses the purple top component into the front-right white column on the wooden block set."}, {"label": "goal", "start_step": 2106, "end_step": 2220, "id": "a02e232d-6507-4b24-9b18-75ea8da80141"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand reaches toward the green cubic block on the lower right table surface, moving downwards."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to fit into the block's hole."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the green cylindrical object from the right side of the table surface."}, {"label": "goal", "start_step": 2221, "end_step": 2335, "id": "2f471971-16ca-4117-901e-ff3c481c41d5"}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the green cylindrical object towards the front-right bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the green cylindrical object onto the front-right white bottle with a purple tip on the wooden tray."}, {"label": "home", "start_step": 2383, "end_step": 2410, "id": "wQLbEQ4DJc4fSdd_AlLUY"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand slightly adjusts its finger posture while staying at the left side of the table, with no overall translation. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table to the left of the wooden peg base, with fingers slightly open."}, {"label": "subtasks", "start_step": 30, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the table to the left of the wooden peg base, with fingers slightly open."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip, the block remains on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the green cubic block from the black table and transports it upward and leftward to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the hole of the green cubic block with the middle purple peg and inserts the block downward onto the peg until it reaches the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the green cubic block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place_release: Right hand places the green hexagonal block onto the wooden base at the bottom of the leftmost purple peg and releases it."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it towards the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal object onto the corresponding purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg without moving."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the purple cylindrical piece on the wooden base, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table below the wooden base, with fingers slightly open."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting around the piece."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible 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": 780, "end_step": 801, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the peg board on the right."}, {"label": "subtasks", "start_step": 802, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the board by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the peg assembly area towards the white hexagonal piece on the black table."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal piece on the black table to establish a grip."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hexagonal block with a central hole on the table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg, moving the block downward to fit the central hole over the peg."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1147, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white hexagonal block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reorient_release: Right hand reorients and releases the white hexagonal block on the top-right peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1221, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the top of the purple peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the green hexagonal block with the purple peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release_retreat: Right hand releases the green hexagonal block on the purple peg and retreats slightly upward."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: idle: Right hand remains empty above the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place_release: Right hand places the white ring onto the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the lower table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1439, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible 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": 1440, "end_step": 1454, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the white hexagonal block leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, lowering it along the rod until it is fully fitted."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release_retreat: Right hand releases the white hexagonal block and retreats slightly to the right."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the area near the purple rod on the wooden base to approach the white hexagonal block on the table close to the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible 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": 1658, "end_step": 1679, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white hollow hexagonal piece on the right side of the table, fingers closing around the piece."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the white hollow hexagonal piece with the top of the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: place: Right hand lowers the white hollow hexagonal piece along the purple rod until it is supported by the white cylinder below."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white hollow hexagonal piece, fingers opening and moving away from the piece."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: idle: Right hand remains empty next to the purple rod without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand moves downward from the right side of the pegboard toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the white cylindrical object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the white cylindrical object off the table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2091, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2099, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: release: Right hand releases the white cylindrical object, with fingers separating from the object."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: press: Right hand presses the purple top component into the front-right white column on the wooden block set."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: reach: Right hand reaches toward the green cubic block on the lower right table surface, moving downwards."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to fit into the block's hole."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: lift: Right hand lifts the green cylindrical object from the right side of the table surface."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: transport: Right hand transports the green cylindrical object towards the front-right bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the left side of the table, with no visible movement. | Right hand: mate: Right hand mates the green cylindrical object onto the front-right white bottle with a purple tip on the wooden tray."}], "episode_index": 14}
+{"source_uid": "7a178ec3d7866067", "num_frames": 2429, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "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 leftmost green block on the black table, without touching the block during movement."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "edc57fdb-ca0b-49da-b580-b61ae6794d45"}, {"label": "valid", "start_step": 0, "end_step": 2401, "id": "RsmxFC62zZWP6tu0icRRx"}, {"label": "subtasks", "start_step": 142, "end_step": 194, "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 touches the leftmost green block on the black table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "goal", "start_step": 196, "end_step": 315, "id": "68585d4e-0303-4a50-8298-18131b486979"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the purple peg by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and leftward towards the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 316, "end_step": 425, "id": "86b4cec1-36b3-497f-aff7-f8bccb314dd5"}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hollow block on the black tabletop, with fingers closing and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 426, "end_step": 550, "id": "d9c97b2e-9885-4008-b402-5230338a3249"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block onto the purple rod of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 551, "end_step": 655, "id": "3e36b8b6-46ba-4079-ad48-071c71ba72a8"}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 656, "end_step": 865, "id": "5b13e069-0104-4e75-9d74-833de4eb3702"}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base and adjusts its position slightly."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 866, "end_step": 995, "id": "edf9652e-a8c6-417d-a258-b5a605e6a310"}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 996, "end_step": 1095, "id": "d62f6b4c-2f6e-483c-bbf2-69ed536199cc"}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "goal", "start_step": 1096, "end_step": 1185, "id": "e462b440-b8cf-4afc-b61b-1447222963e3"}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "goal", "start_step": 1186, "end_step": 1335, "id": "0f75cc8a-3a74-4c08-ad13-9c5dd769ef2d"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring placed on the lower right area of the table."}, {"label": "goal", "start_step": 1336, "end_step": 1445, "id": "03897bdc-7b1d-4f9f-b092-3b9ddea44281"}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "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 closes fingers to grasp the white hexagonal ring on the lower right area of the table."}, {"label": "goal", "start_step": 1446, "end_step": 1565, "id": "92068ea3-2142-4f4c-ba34-d6299769c7ff"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "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 aligns the central hole of the white cylinder with the top of the purple rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the white cylinder onto the purple rod until it is stably supported on the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table at the right side of the wooden block base, without contacting the block yet."}, {"label": "goal", "start_step": 1566, "end_step": 1665, "id": "f9867bd2-21ce-4f60-8703-d8f0661e211b"}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1666, "end_step": 1890, "id": "b8be0e41-b586-40ca-9bd1-c7086e2ec474"}, {"label": "subtasks", "start_step": 1710, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block after successful fitting."}, {"label": "subtasks", "start_step": 1890, "end_step": 1941, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the area near the building block set to approach the white hollow block on the table."}, {"label": "goal", "start_step": 1891, "end_step": 1985, "id": "4983fd1e-bebe-4bfb-a4d9-278119c8ede8"}, {"label": "subtasks", "start_step": 1942, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hollow block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1986, "end_step": 2105, "id": "4b83a831-1a37-4091-9d78-4e33e4705010"}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white block that is placed on the purple rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray."}, {"label": "goal", "start_step": 2106, "end_step": 2205, "id": "3fd58325-bd85-4c51-9493-7c0b3f514649"}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "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 adjusts fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2206, "end_step": 2365, "id": "a5a4c0ea-07b0-448b-9899-7d339c3246da"}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "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 green block from the table and transports it towards the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2347, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "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 green block from its grip."}, {"label": "home", "start_step": 2402, "end_step": 2428, "id": "ehcs4SWtYLS0INYTwEAbV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "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 leftmost green block on the black table, without touching the block during movement."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "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 touches the leftmost green block on the black table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green square block onto the purple peg by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward and leftward towards the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hollow block on the black tabletop, with fingers closing and adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block onto the purple rod of the wooden base, with fingers opening gradually."}, {"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 operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden base and adjusts its position slightly."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 915, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1005, "end_step": 1041, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1094, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table."}, {"label": "subtasks", "start_step": 1140, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green cubic block and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green cubic block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal ring placed on the lower right area of the table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "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 closes fingers to grasp the white hexagonal ring on the lower right area of the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylinder and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1499, "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 aligns the central hole of the white cylinder with the top of the purple rod."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand lowers the white cylinder onto the purple rod until it is stably supported on the rod."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table at the right side of the wooden block base, without contacting the block yet."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1889, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod and releases the block after successful fitting."}, {"label": "subtasks", "start_step": 1890, "end_step": 1941, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the area near the building block set to approach the white hollow block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hollow block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white block that is placed on the purple rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2227, "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 adjusts fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "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 green block from the table and transports it towards the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2347, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the white bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "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 green block from its grip."}], "episode_index": 15}
+{"source_uid": "a3545f86c1b1a7f6", "num_frames": 2713, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_hand: Left hand moves upward and slightly rotates its wrist to reposition in the air, remaining empty and not touching any operating object. | Right hand: reach: Right hand moves leftward from the right side of the scene to approach the green hexagonal block on the table at the left of the wooden base, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "d64ade27-fd2c-48da-ae42-df7d42fa9f0e"}, {"label": "valid", "start_step": 0, "end_step": 2686, "id": "Z2NUD5N6MYtVaYxkJ2YA3"}, {"label": "subtasks", "start_step": 30, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves leftward from the right side of the scene to approach the green hexagonal block on the table at the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 158, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal block, then closes its fingers and adjusts to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without any movement."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 271, "end_step": 415, "id": "176085a2-c2b1-4b14-8542-c34309111442"}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward and upward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack, lowering and adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 416, "end_step": 560, "id": "d50880ca-7bda-4e39-9a38-7f269f4af56c"}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers kept open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 561, "end_step": 810, "id": "93752805-7eac-4fcd-a6b8-266a627ed6b3"}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 638, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 811, "end_step": 915, "id": "1d5ead1d-2796-4b63-9169-80338cd587bb"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part with a hole on the black table."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal part with a hole on the black table, with fingers closing and adjusting the grip."}, {"label": "goal", "start_step": 916, "end_step": 1080, "id": "cf4e374f-97ff-45c6-861a-29a28d55e5f8"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple peg on the wooden rack, lowering the block down to fit onto the peg completely."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats away from the assembled white block and wooden rack, moving slightly to the right."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 1081, "end_step": 1170, "id": "1307f2cc-d979-4d59-b208-f64886c9acb9"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 1171, "end_step": 1315, "id": "ab99d365-1a86-4beb-af29-20e7926d0304"}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it leftward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the rightmost purple peg on the wooden base, aligning the piece's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the right purple peg and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal piece, moving slightly upward as its grip loosens."}, {"label": "goal", "start_step": 1316, "end_step": 1405, "id": "b04760cb-f07f-40f0-ab78-c6f1a26564bd"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the right purple peg and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "goal", "start_step": 1406, "end_step": 1505, "id": "ef565e96-2015-4dd8-918c-753d5f6b6599"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it onto the rod to establish assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand places the green hexagonal block down along the purple rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1506, "end_step": 1625, "id": "656cd56b-a3b8-4507-8480-ac9fc721cfb5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release_reach: Right hand releases the green block on the purple peg and reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments."}, {"label": "goal", "start_step": 1626, "end_step": 1815, "id": "a8799417-404b-44a8-ac52-9b386ba821f0"}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the top of the purple peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand lowers the white cylindrical block along the purple peg until it rests on the green block below."}, {"label": "subtasks", "start_step": 1718, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white cylindrical block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats upward away from the white cylindrical block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white ring block on the purple rod of the wooden-based block set."}, {"label": "goal", "start_step": 1816, "end_step": 1905, "id": "09b76b71-e0de-4ae7-a6e4-865b68e6c11f"}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the right side of the table, adjusting its fingers to form a stable grip while the cylinder stays on the table surface."}, {"label": "goal", "start_step": 1906, "end_step": 2035, "id": "f3fdbda9-de52-4ad1-8221-ce428b656a78"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the purple peg on the wooden block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand lowers the white hollow cylinder onto the purple peg until the cylinder is supported by the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical peg on the wooden base."}, {"label": "goal", "start_step": 2036, "end_step": 2115, "id": "2caf1043-f393-4b4f-861f-82ef455e44bf"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift: Right hand lifts the white hollow cylindrical piece from the dark table surface."}, {"label": "goal", "start_step": 2116, "end_step": 2265, "id": "cca9bce3-6d6d-4359-8c82-123d7bb96c5b"}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: transport: Right hand transports the white hollow cylindrical piece leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg by aligning the hole and lowering the piece onto the peg."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: press: Right hand presses the top of the white bottle with green base on the wooden tray."}, {"label": "goal", "start_step": 2266, "end_step": 2370, "id": "7a2ddeb8-6aeb-49a6-bc5d-8ec981974661"}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2347, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp_lift: Right hand grasps the green perforated block on the right tabletop and lifts it off the supporting surface."}, {"label": "goal", "start_step": 2371, "end_step": 2660, "id": "aedf79db-1b89-4ef4-9c27-2de35aceee9c"}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: transport: Right hand carries the green perforated block toward the rightmost white column on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the green perforated block with the rightmost white column and fits it down onto the column to complete nesting assembly."}, {"label": "subtasks", "start_step": 2482, "end_step": 2631, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green perforated block fitted on the rightmost white column without moving."}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand opens its fingers to release the green perforated block, separating from the block."}, {"label": "subtasks", "start_step": 2648, "end_step": 2669, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats empty away from the assembled green block on the rack."}, {"label": "home", "start_step": 2687, "end_step": 2712, "id": "dyIqb5ljd6_mi7N689xjs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:reposition_hand: Left hand moves upward and slightly rotates its wrist to reposition in the air, remaining empty and not touching any operating object. | Right hand: reach: Right hand moves leftward from the right side of the scene to approach the green hexagonal block on the table at the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 30, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves leftward from the right side of the scene to approach the green hexagonal block on the table at the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 158, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal block, then closes its fingers and adjusts to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without any movement."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it rightward and upward to the position above the leftmost purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden rack, lowering and adjusting the block to fit onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table, with fingers kept open."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden base, aligning and lowering it into place."}, {"label": "subtasks", "start_step": 638, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part with a hole on the black table."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal part with a hole on the black table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1057, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal block with the front-left purple peg on the wooden rack, lowering the block down to fit onto the peg completely."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1079, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats away from the assembled white block and wooden rack, moving slightly to the right."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it leftward toward the wooden peg base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the rightmost purple peg on the wooden base, aligning the piece's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the right purple peg and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white hexagonal piece, moving slightly upward as its grip loosens."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the right purple peg and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod and fits it onto the rod to establish assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand places the green hexagonal block down along the purple rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release_reach: Right hand releases the green block on the purple peg and reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the top of the purple peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand lowers the white cylindrical block along the purple peg until it rests on the green block below."}, {"label": "subtasks", "start_step": 1718, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white cylindrical block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1814, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats upward away from the white cylindrical block."}, {"label": "subtasks", "start_step": 1815, "end_step": 1829, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand releases the white ring block on the purple rod of the wooden-based block set."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the right side of the table, adjusting its fingers to form a stable grip while the cylinder stays on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the purple peg on the wooden block."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: place: Right hand lowers the white hollow cylinder onto the purple peg until the cylinder is supported by the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: lift: Right hand lifts the white hollow cylindrical piece from the dark table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: transport: Right hand transports the white hollow cylindrical piece leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2264, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand mates the white hollow cylindrical piece with the purple peg by aligning the hole and lowering the piece onto the peg."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: press: Right hand presses the top of the white bottle with green base on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2347, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2348, "end_step": 2369, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: grasp_lift: Right hand grasps the green perforated block on the right tabletop and lifts it off the supporting surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: transport: Right hand carries the green perforated block toward the rightmost white column on the wooden rack."}, {"label": "subtasks", "start_step": 2430, "end_step": 2481, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: mate: Right hand aligns the green perforated block with the rightmost white column and fits it down onto the column to complete nesting assembly."}, {"label": "subtasks", "start_step": 2482, "end_step": 2631, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: hold: Right hand holds the green perforated block fitted on the rightmost white column without moving."}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: release: Right hand opens its fingers to release the green perforated block, separating from the block."}, {"label": "subtasks", "start_step": 2648, "end_step": 2669, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the scene without moving. | Right hand: retreat: Right hand retreats empty away from the assembled green block on the rack."}], "episode_index": 16}
+{"source_uid": "ad515fca75fa5ee0", "num_frames": 3153, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "5cd00729-a1c7-45bc-8c87-bf1984e9da04"}, {"label": "valid", "start_step": 0, "end_step": 3127, "id": "OSwS3SwgIP0AJ5KH8yejU"}, {"label": "subtasks", "start_step": 150, "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 closes fingers to grasp the green block at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "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 transports it to the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 226, "end_step": 465, "id": "048f6f7b-dc26-404b-8926-e1c09a48a3f3"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod."}, {"label": "subtasks", "start_step": 278, "end_step": 411, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the installed green block on the purple rod."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "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 reaches towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 466, "end_step": 555, "id": "7e22ae82-ef98-4b97-87fb-fae6a170da33"}, {"label": "subtasks", "start_step": 502, "end_step": 524, "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": 525, "end_step": 554, "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 black table without any movement."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal block placed on the black workbench."}, {"label": "goal", "start_step": 556, "end_step": 680, "id": "322a9ee7-5d25-4da8-8f0e-06997a7db67a"}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the workbench and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 annular block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 681, "end_step": 785, "id": "d5998d46-cfde-43ae-ae04-a3545c8367fb"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "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 black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 801, "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 fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 786, "end_step": 995, "id": "5a22968e-c6c8-4ac4-8873-bb09ecbcbd3a"}, {"label": "subtasks", "start_step": 802, "end_step": 831, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and pushing it down onto the rod."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "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 block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "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 towards the white hexagonal block on the table in front of the wooden assembly base."}, {"label": "goal", "start_step": 996, "end_step": 1090, "id": "fc85bc0f-2a1f-45e9-a3e3-fbf03ee5c517"}, {"label": "subtasks", "start_step": 1028, "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: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "goal", "start_step": 1091, "end_step": 1210, "id": "ffb01d4e-46fb-482a-befd-9f8b08f52a77"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1132, "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 mates the white hexagonal block with the purple post by fitting it down onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 1211, "end_step": 1290, "id": "ca7ba2d5-966f-42be-9d7c-99f20948c2a3"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 1291, "end_step": 1460, "id": "82ae6fcd-1be7-4d8a-acd2-8c0494d7e80c"}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up to make it fully leave the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it until the block is fully seated on the base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1461, "end_step": 1580, "id": "6f95029a-2ec5-48f8-aab8-b2357c2448f1"}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "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 table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "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 cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1581, "end_step": 1860, "id": "8ad763af-7392-4712-a273-c807796ffff6"}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1688, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats slightly from the rod."}, {"label": "goal", "start_step": 1861, "end_step": 1980, "id": "4e551db1-d66a-4f4c-8628-f6d7f300fa2b"}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1928, "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: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1981, "end_step": 2120, "id": "72ac9bdd-984e-4ce7-9af0-6dc9f11f4246"}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 cylindrical block and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "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 cylindrical block onto the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table surface."}, {"label": "goal", "start_step": 2121, "end_step": 2195, "id": "6853b3b9-53a9-452e-b30a-845fee6485d9"}, {"label": "subtasks", "start_step": 2145, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hollow block and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 2196, "end_step": 2350, "id": "e4374310-68c1-48e6-933d-e48756b12df5"}, {"label": "subtasks", "start_step": 2212, "end_step": 2317, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small purple plug into the hole of the white block on the wooden base."}, {"label": "goal", "start_step": 2351, "end_step": 2455, "id": "0d6a9dda-afa1-42ac-99d4-6b5e316a7253"}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table surface."}, {"label": "goal", "start_step": 2456, "end_step": 3075, "id": "b9e939ed-e41c-4757-8c77-e968c536140a"}, {"label": "subtasks", "start_step": 2475, "end_step": 2557, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple cap of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring from its grasp."}, {"label": "subtasks", "start_step": 2610, "end_step": 2684, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack towards the green cube on the right table surface."}, {"label": "subtasks", "start_step": 2685, "end_step": 2849, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts its grip on the green cube on the table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2924, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block located at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 150, "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 closes fingers to grasp the green block at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "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 transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod."}, {"label": "subtasks", "start_step": 278, "end_step": 411, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it in position."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the installed green block on the purple rod."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "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 reaches towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "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": 525, "end_step": 554, "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 black table without any movement."}, {"label": "subtasks", "start_step": 555, "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: grasp: Right hand grasps the white hexagonal block placed on the black workbench."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the workbench and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "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 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"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: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1132, "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 mates the white hexagonal block with the purple post by fitting it down onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1252, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up to make it fully leave the table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it until the block is fully seated on the base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "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 table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1611, "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 cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1688, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats slightly from the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1881, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1928, "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: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2047, "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 cylindrical block and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "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 cylindrical block onto the empty peg on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hollow block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2212, "end_step": 2317, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and inserts it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small purple plug into the hole of the white block on the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the table surface."}, {"label": "subtasks", "start_step": 2475, "end_step": 2557, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the purple cap of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring from its grasp."}, {"label": "subtasks", "start_step": 2610, "end_step": 2684, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden rack towards the green cube on the right table surface."}, {"label": "subtasks", "start_step": 2685, "end_step": 2849, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts its grip on the green cube on the table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2924, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table surface and transports it towards the white bottle with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2925, "end_step": 3067, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right 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+                "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"
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+            ],
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+                "video.codec": "h264",
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+        },
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+            ],
+            "names": [
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+                "video.codec": "h264",
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+            ],
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+                "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"
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+                1600,
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+                "video.codec": "h264",
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+            "names": null
+        },
+        "episode_index": {
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+        },
+        "task_index": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_10_55_37_train/lerobot_v3.0/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_07_01_10_55_37_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_10_55_37_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+      "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": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_10_55_37_train/lerobot_v3.0/meta/stats.json b/play_tic_tac_toe/season_POC22048_2026_07_01_10_55_37_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d24467509485a0d92f10bdeff9376fa82ba3239
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_10_55_37_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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"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 vertically up from the black table until it is fully off the supporting surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 285, "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: mate: Right hand mates the green cubic block onto the leftmost purple peg by lowering it and fitting it into the assembly position."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "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 on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the left peg of the wooden base and releases the green block."}, {"label": "goal", "start_step": 446, "end_step": 555, "id": "e8a1ea10-8dd2-4750-94aa-719c3981772b"}, {"label": "subtasks", "start_step": 458, "end_step": 517, "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 surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "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 adjusting to form a stable grip."}, {"label": "goal", "start_step": 556, "end_step": 790, "id": "bdf6e485-3b77-4a1e-82ea-486079da1e06"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "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 object off the table and transports it toward the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost peg of the pegboard, fitting it down onto the peg."}, {"label": "subtasks", "start_step": 630, "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: hold: Right hand holds the white hexagonal object on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 791, "end_step": 910, "id": "66f9cfb3-4825-4a7a-9682-d214e415c64d"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the table with fingers closing around it."}, {"label": "goal", "start_step": 911, "end_step": 1160, "id": "7b7dd769-1210-4c8e-914b-c0f37065eaf5"}, {"label": "subtasks", "start_step": 922, "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: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "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 onto the left-front peg of the wooden rack, aligning the part's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the left-front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple rod, adjusting the block to fit securely on the rod."}, {"label": "goal", "start_step": 1161, "end_step": 1331, "id": "1a922dc6-92e6-4fdf-9bf5-ea78f7a2ea9f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 1332, "end_step": 1487, "id": "6894f3b1-7181-4365-8db9-0b08fc046ce5"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1431, "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 hexagonal part with the purple peg and lowers it onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "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 pegboard with white and purple pegs toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1488, "end_step": 1589, "id": "d56ecda8-949a-4acd-962e-446c46bf05d1"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1590, "end_step": 1766, "id": "dbaefea4-e154-48c0-b7c4-d4ed4a916f0f"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg above the green block on the wooden base."}, {"label": "goal", "start_step": 1767, "end_step": 1895, "id": "85003d2f-63fe-4463-919b-ed44d0ca5e29"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1896, "end_step": 2048, "id": "2515db3d-3e12-4cf5-9ecd-d37b9b7638e7"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg by aligning the hole and lowering it down."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the green block of the stack, with fingers opening slightly."}, {"label": "goal", "start_step": 2049, "end_step": 2168, "id": "f840454d-b1ae-41d5-885d-f7b0ab8a3319"}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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 and rightward to approach the white cylinder on the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylinder on the table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder on the table surface without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table near the right side of the wooden peg base, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2169, "end_step": 2285, "id": "62aaae8d-30ac-4987-b928-66ff173b3dda"}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "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 cylindrical piece off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "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 piece with the purple peg by lowering it to align the piece's hole with the peg and fit them together."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "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 of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2286, "end_step": 2376, "id": "8c5f11fa-2480-4fe0-be00-74c59f132e66"}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2377, "end_step": 2523, "id": "1ca4cb4c-f754-4257-a38e-bf2bc9aea13d"}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "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 cylinder off the dark work surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "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 cylinder with the purple peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder fitted on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple peg, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the purple peg on the wooden base."}, {"label": "goal", "start_step": 2524, "end_step": 2619, "id": "0cbf8895-1ff0-4bfa-8490-dfbd72d6e7e4"}, {"label": "subtasks", "start_step": 2535, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block with purple top on the wooden rack, fingers open gradually."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 2620, "end_step": 2823, "id": "7b1b6224-6ce5-4838-b3e6-58b801655b35"}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the rightmost white pillar on the block tower."}, {"label": "subtasks", "start_step": 2685, "end_step": 2834, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green ring onto the top of the rightmost white pillar and releases the object."}, {"label": "home", "start_step": 2859, "end_step": 2890, "id": "42ekcqMrl3ubmBdoBfGhU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green block at the bottom of the leftmost peg on the wooden base, with fingers slightly adjusting posture during movement."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "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 block at the bottom of the leftmost peg, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "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 at the bottom of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "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 black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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 vertically up from the black table until it is fully off the supporting surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 285, "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: mate: Right hand mates the green cubic block onto the leftmost purple peg by lowering it and fitting it into the assembly position."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "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 on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the left peg of the wooden base and releases the green block."}, {"label": "subtasks", "start_step": 458, "end_step": 517, "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 surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "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 object off the table and transports it toward the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost peg of the pegboard, fitting it down onto the peg."}, {"label": "subtasks", "start_step": 630, "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: hold: Right hand holds the white hexagonal object on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 922, "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: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "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 onto the left-front peg of the wooden rack, aligning the part's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the left-front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple rod, adjusting the block to fit securely on the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1431, "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 hexagonal part with the purple peg and lowers it onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "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 pegboard with white and purple pegs toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg by aligning the hole and lowering it down."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the green block of the stack, with fingers opening slightly."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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 and rightward to approach the white cylinder on the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylinder on the table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder on the table surface without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table near the right side of the wooden peg base, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "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 cylindrical piece off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "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 piece with the purple peg by lowering it to align the piece's hole with the peg and fit them together."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "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 of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "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 cylinder off the dark work surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "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 cylinder with the purple peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder fitted on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple peg, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block with purple top on the wooden rack, fingers open gradually."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the rightmost white pillar on the block tower."}, {"label": "subtasks", "start_step": 2685, "end_step": 2834, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green ring onto the top of the rightmost white pillar and releases the object."}], "episode_index": 0}
+{"source_uid": "8549a65ab3082ade", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: other:adjust_hand_posture: Right hand rotates its wrist and adjusts finger posture upward."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "7f492df6-5bab-4867-b7b9-69283db7562c"}, {"label": "valid", "start_step": 0, "end_step": 2926, "id": "0j4vG4x8Rl4aNdKQzBik1"}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: idle: Right hand stays empty in the air at the right side without moving."}, {"label": "subtasks", "start_step": 112, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block located below the wooden base on the black table."}, {"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 home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block below the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 271, "end_step": 423, "id": "11fa7a4c-df12-4ad7-8f7f-71cc522457ba"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it stably."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand retreats away from the wooden base assembly area."}, {"label": "goal", "start_step": 424, "end_step": 537, "id": "7cf38b54-88f7-4231-972d-364080d1e521"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "goal", "start_step": 538, "end_step": 729, "id": "fcc427d7-5399-4bc8-999f-358935fad205"}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand releases the white hexagonal block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white block it holds on the purple rod of the wooden base."}, {"label": "goal", "start_step": 730, "end_step": 810, "id": "90989c0c-138a-4309-a26f-de19b624068f"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 811, "end_step": 972, "id": "24387661-3518-4cdb-b4b8-688e543bd8d1"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 870, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downwards from the assembly plate towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 973, "end_step": 1071, "id": "c2132c81-a9a5-4bf5-bf0b-d605fdd0cb65"}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1072, "end_step": 1329, "id": "bbecc070-a51b-4569-88e8-10cade67128f"}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit tightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the green block on the table without touching the block."}, {"label": "goal", "start_step": 1330, "end_step": 1422, "id": "276fa0d2-e3a9-4664-ac20-c57aabe919fc"}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the green block on the table and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 1423, "end_step": 1593, "id": "543cbec3-a69b-46a7-940c-73af97d1c829"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green cube towards the white peg on the wooden base until it is above the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the green cube with the white peg by aligning the hole of the cube with the peg and pushing it down onto the peg."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1594, "end_step": 1845, "id": "88201837-f867-4333-9fce-8322ad3aa967"}, {"label": "subtasks", "start_step": 1628, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers continuously to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1846, "end_step": 1995, "id": "3fa4c32b-a59c-4596-ae6b-03450a7fdccb"}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts the block down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly upwards away from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 1996, "end_step": 2082, "id": "fe2e789e-b7a2-46f3-b4b0-663eb559d3d9"}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table next to the wooden base."}, {"label": "goal", "start_step": 2083, "end_step": 2337, "id": "d8108037-bd84-4083-9bea-773c37ec1cb8"}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2168, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, adjusts its position to be stable, then releases the block by opening fingers."}, {"label": "subtasks", "start_step": 2325, "end_step": 2377, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2338, "end_step": 2430, "id": "555f87db-da24-44dd-9234-42fc6338eac8"}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the white hexagonal block, fingers close to establish a stable grasp."}, {"label": "goal", "start_step": 2431, "end_step": 2589, "id": "189124c7-9ffb-4469-b71b-8c13fc86a4d5"}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical object which is now placed on the purple rod."}, {"label": "goal", "start_step": 2590, "end_step": 2688, "id": "c19a6bf3-1acf-40ba-8151-e8088eebfc3b"}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves towards the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 2689, "end_step": 2895, "id": "6ce4b6f9-89bb-475f-b569-f41b4293c447"}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the purple-tipped white post on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the green block with the purple-tipped white post and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the post."}, {"label": "home", "start_step": 2927, "end_step": 2955, "id": "3BJt7E9Rm5tO-aPDprY3O"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: other:adjust_hand_posture: Right hand rotates its wrist and adjusts finger posture upward."}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: idle: Right hand stays empty in the air at the right side without moving."}, {"label": "subtasks", "start_step": 112, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block located below the wooden base on the black table."}, {"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 home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block below the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it stably."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand retreats away from the wooden base assembly area."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand releases the white hexagonal block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white block it holds on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 870, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downwards from the assembly plate towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit tightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the green block on the table without touching the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the green block on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green cube towards the white peg on the wooden base until it is above the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the green cube with the white peg by aligning the hole of the cube with the peg and pushing it down onto the peg."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers continuously to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts the block down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly upwards away from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2010, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2168, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, adjusts its position to be stable, then releases the block by opening fingers."}, {"label": "subtasks", "start_step": 2325, "end_step": 2377, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the white hexagonal block, fingers close to establish a stable grasp."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical object which is now placed on the purple rod."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves towards the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the purple-tipped white post on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the green block with the purple-tipped white post and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the post."}], "episode_index": 1}
+{"source_uid": "88e33d73743db0e3", "num_frames": 2833, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its wrist and finger positions from the initial upward-extended pose to a neutral resting posture, remaining empty without contacting any objects on the table. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "c8f0292a-3dea-46ee-ad7c-691cb890897d"}, {"label": "valid", "start_step": 0, "end_step": 2804, "id": "l9ol7BJ5CuI7OTEwqt4a9"}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 142, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting its finger and wrist positions to form a stable grasp around the object."}, {"label": "goal", "start_step": 208, "end_step": 351, "id": "60d80c98-8dc6-4b71-b0f1-486fe74fbbc2"}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block backward through the air toward the purple peg mounted on the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block slightly to insert the peg into the hole."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg, lowering the block until it rests stably on the surface of the wooden peg base."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the wooden block assembly toward the white hexagonal nut on the black table surface, not yet touching the target nut."}, {"label": "goal", "start_step": 352, "end_step": 468, "id": "7742e923-2b20-4e05-8f4b-cf78706a4e7b"}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making minor finger and wrist adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut on the table steadily without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the white hexagonal nut on the table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 469, "end_step": 732, "id": "aa49e1e3-d051-46fa-9ccc-f7c540b964ce"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it to the position directly above the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, moves the nut downward to fit onto the peg, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: press: Right hand presses the white cylindrical block on the wooden assembly board vertically downward to seat it on the underlying green block."}, {"label": "goal", "start_step": 733, "end_step": 822, "id": "44d9fa24-73dc-45df-a4a4-e8f468807dd3"}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the assembly board toward the front-left white hexagonal nut on the table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting contact to form a stable grasp."}, {"label": "goal", "start_step": 823, "end_step": 954, "id": "1aea25c0-9152-4ada-bde6-77d80c206dee"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple vertical rod and fits the block onto the rod to establish the assembled state."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal block resting on the table surface, with no contact to the block yet."}, {"label": "goal", "start_step": 955, "end_step": 1173, "id": "d30d33f8-3fc2-4244-ae28-26c388cf5b07"}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_mate: Right hand lifts the grasped white hexagonal block off the table surface, moves it toward the purple vertical rod on the wooden base, and aligns the block's central hole with the rod to start the assembly process."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the table near the wooden assembly base."}, {"label": "goal", "start_step": 1174, "end_step": 1449, "id": "663b6a7c-f193-46e1-9751-bcc4aa4ec6d7"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to position it directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, fitting the nut onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until the nut seats firmly on the stacked white nut below, supported by the rod and underlying nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: retreat: Right hand moves empty downward and away from the wooden assembly base after releasing the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves toward the green hexagonal block on the dark table surface with fingers slightly extended."}, {"label": "goal", "start_step": 1450, "end_step": 1505, "id": "7dcb3797-b0f7-4fc7-9bb5-7becaa97ac22"}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts finger positions to form a stable grasp on the green hexagonal block, which remains resting on the table surface."}, {"label": "goal", "start_step": 1506, "end_step": 1649, "id": "242c9364-060c-4473-861a-1886e106302c"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple post without noticeable movement of the hand or block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1650, "end_step": 1751, "id": "68cc9a0d-9489-4b15-b1d4-52551fc174b3"}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand presses fingers against the white hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "goal", "start_step": 1752, "end_step": 1895, "id": "57f9a294-c4c8-4033-b518-b574e27b6ace"}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface and moves it upward and backward toward the wooden block assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, separating from the block."}, {"label": "goal", "start_step": 1896, "end_step": 1994, "id": "7d8bfe04-0879-4e75-9bea-918db81b8124"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the black table surface near the wooden block stand."}, {"label": "goal", "start_step": 1995, "end_step": 2225, "id": "76545d8d-36d8-4be6-b0c9-17f00dd02008"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then transports it to the position directly above the empty slot next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to place it onto the empty slot on the wooden stand, with the block fully supported by the stand at the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the placed white hexagonal block on the wooden stand steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block, separating the hand from the block which stays on the wooden stand."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: idle: Right hand stays near the stacked blocks on the wooden base without moving, with its index finger lightly touching the purple rod on the base."}, {"label": "goal", "start_step": 2226, "end_step": 2321, "id": "923c2e72-9eb4-42d2-aa86-40a2aedb3303"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the white hexagonal nut."}, {"label": "goal", "start_step": 2322, "end_step": 2489, "id": "9028bb8b-f580-47dc-94ec-00d10652236b"}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the table surface and moves it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the vertical purple rod on the stand, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white cylindrical block along the purple rod until the block rests stably on the white base of the stand."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty from the white bottle on the wooden rack downward toward the green square block on the right black table surface, with fingers extended as it approaches the target block."}, {"label": "goal", "start_step": 2490, "end_step": 2582, "id": "62350bbf-59d3-42ff-9401-38cde56d3899"}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the top and side of the green square block, fingers close around the block and adjust contact points to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green square block on the table surface without obvious visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the green ring-shaped block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "goal", "start_step": 2583, "end_step": 2762, "id": "79aa2b78-ad82-48d7-bebd-4d49e924e70a"}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green ring-shaped block through the air toward the white cylinder with a purple cap on the light wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the green ring-shaped block with the white cylinder with a purple cap and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release_retreat: Right hand opens fingers to release the fitted green ring-shaped block and moves backward away from the light wooden tray."}, {"label": "home", "start_step": 2805, "end_step": 2832, "id": "zF0uvmV0vyaevMwa_8QcR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its wrist and finger positions from the initial upward-extended pose to a neutral resting posture, remaining empty without contacting any objects on the table. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 142, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting its finger and wrist positions to form a stable grasp around the object."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block backward through the air toward the purple peg mounted on the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block slightly to insert the peg into the hole."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg, lowering the block until it rests stably on the surface of the wooden peg base."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the wooden block assembly toward the white hexagonal nut on the black table surface, not yet touching the target nut."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making minor finger and wrist adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut on the table steadily without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the white hexagonal nut on the table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it to the position directly above the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, moves the nut downward to fit onto the peg, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: press: Right hand presses the white cylindrical block on the wooden assembly board vertically downward to seat it on the underlying green block."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the assembly board toward the front-left white hexagonal nut on the table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple vertical rod and fits the block onto the rod to establish the assembled state."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal block resting on the table surface, with no contact to the block yet."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_mate: Right hand lifts the grasped white hexagonal block off the table surface, moves it toward the purple vertical rod on the wooden base, and aligns the block's central hole with the rod to start the assembly process."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the table near the wooden assembly base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to position it directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, fitting the nut onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until the nut seats firmly on the stacked white nut below, supported by the rod and underlying nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: retreat: Right hand moves empty downward and away from the wooden assembly base after releasing the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves toward the green hexagonal block on the dark table surface with fingers slightly extended."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts finger positions to form a stable grasp on the green hexagonal block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple post without noticeable movement of the hand or block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand presses fingers against the white hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface and moves it upward and backward toward the wooden block assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, separating from the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the black table surface near the wooden block stand."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then transports it to the position directly above the empty slot next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to place it onto the empty slot on the wooden stand, with the block fully supported by the stand at the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the placed white hexagonal block on the wooden stand steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block, separating the hand from the block which stays on the wooden stand."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: idle: Right hand stays near the stacked blocks on the wooden base without moving, with its index finger lightly touching the purple rod on the base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the white hexagonal nut."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the table surface and moves it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the vertical purple rod on the stand, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white cylindrical block along the purple rod until the block rests stably on the white base of the stand."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty from the white bottle on the wooden rack downward toward the green square block on the right black table surface, with fingers extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the top and side of the green square block, fingers close around the block and adjust contact points to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green square block on the table surface without obvious visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the green ring-shaped block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green ring-shaped block through the air toward the white cylinder with a purple cap on the light wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the green ring-shaped block with the white cylinder with a purple cap and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release_retreat: Right hand opens fingers to release the fitted green ring-shaped block and moves backward away from the light wooden tray."}], "episode_index": 2}
+{"source_uid": "e94d40e1546711a8", "num_frames": 2658, "annotation_status": "loaded", "has_annotation": true, "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 at the left side of the table with fingers slightly spread. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "555abfb4-545f-4c23-9f69-5fb4f036930f"}, {"label": "valid", "start_step": 0, "end_step": 2627, "id": "tEWFvrr5995BM066LkSb9"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white top of the leftmost column on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the grasped white top of the leftmost column downward along the column axis."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 187, "end_step": 348, "id": "3f95f850-cc08-406e-a68f-73f50416cf5f"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "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 table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00009", "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, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green ring downward along the purple peg on the wooden base."}, {"label": "goal", "start_step": 349, "end_step": 450, "id": "0d88b6a0-6dfb-4263-8da1-a3ec2b296aa4"}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_reach: Right hand releases the green ring on the purple peg and reaches toward the white hexagonal block on the dark table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "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 dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "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 dark table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "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 black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 451, "end_step": 636, "id": "0392a9ff-7333-41ed-938a-d00066280e65"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "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 black table and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "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 peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 532, "end_step": 629, "id": "reasoning-language-00017", "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 peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal piece onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 637, "end_step": 735, "id": "1fecc632-06e2-474e-a5a2-1adedb00b5b0"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the front white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the front white hexagonal piece on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 736, "end_step": 951, "id": "a04e9da4-80e4-4b8b-b0fe-aabade32e9b4"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "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 piece off the table and transports it toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost green peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost green peg of the board without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "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 on the right purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 952, "end_step": 1059, "id": "228d6663-3dd0-42ef-91df-b96162e006b7"}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00025", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00026", "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1060, "end_step": 1209, "id": "2470d12c-61d5-4f95-9740-8df19e74020d"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "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 piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod, lowering it onto the rod until it is fitted in place."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "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."}, {"label": "goal", "start_step": 1210, "end_step": 1293, "id": "729e15af-6f71-4d33-9263-7f07fef3a772"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1294, "end_step": 1476, "id": "6936ef49-af11-4273-ac2e-e14829955e38"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "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 from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00035", "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 hexagonal block with the purple rod and inserts the rod into the block to complete initial assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00037", "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 by opening its fingers."}, {"label": "goal", "start_step": 1477, "end_step": 1575, "id": "753918f1-2898-452d-8d28-c6c72e4abee0"}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00038", "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 peg of the wooden rack with fingers adjusting the block position."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "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 with fingers closing and adjusting to fit the block shape."}, {"label": "goal", "start_step": 1576, "end_step": 1704, "id": "3e943b55-52a4-444d-aa0d-0363680fe335"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "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 rod by aligning the block's hole with the rod and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "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 by opening its fingers to separate from the block."}, {"label": "goal", "start_step": 1705, "end_step": 1806, "id": "a930387e-377d-4fe8-b8ad-ed9efba176de"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves down-right towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical block on the right side of the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 1807, "end_step": 2076, "id": "e264ef8a-bb27-4807-b6f5-9a2c798a9f37"}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand holds the white cylindrical object and moves it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod, adjusting position continuously during the assembly process."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00049", "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 on the wooden tray, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2077, "end_step": 2142, "id": "d0c9d2d3-ef3a-433f-8a2f-114858524537"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward and rightward from the wooden tray area to approach the white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the white hollow cylinder on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 2143, "end_step": 2268, "id": "213b63cd-ac29-43e5-a761-bec8001e0554"}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the white hollow cylinder on the purple rod and retreats slightly upward."}, {"label": "goal", "start_step": 2269, "end_step": 2367, "id": "4f23c23f-9734-415a-a7fb-4fa65a3ce5e0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_release: Right hand lifts and releases the front-right white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "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 cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 2368, "end_step": 2595, "id": "82f1364f-741b-46f2-8df2-182a9690f3ef"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the green block toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand retreats away from the assembled green block while empty."}, {"label": "home", "start_step": 2628, "end_step": 2657, "id": "UqwvQJnWF7HEnhfDL__xq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward at the left side of the table with fingers slightly spread. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white top of the leftmost column on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the grasped white top of the leftmost column downward along the column axis."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 202, "end_step": 224, "id": "reasoning-language-00006", "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 table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00009", "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, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green ring downward along the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_reach: Right hand releases the green ring on the purple peg and reaches toward the white hexagonal block on the dark table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "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 dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "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 dark table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "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 black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "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 black table and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "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 peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 532, "end_step": 629, "id": "reasoning-language-00017", "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 peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal piece onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the front white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the front white hexagonal piece on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "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 piece off the table and transports it toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost green peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost green peg of the board without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "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 on the right purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00025", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00026", "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "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 piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod, lowering it onto the rod until it is fitted in place."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "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."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "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 from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00035", "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 hexagonal block with the purple rod and inserts the rod into the block to complete initial assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00037", "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 by opening its fingers."}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00038", "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 peg of the wooden rack with fingers adjusting the block position."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "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 with fingers closing and adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "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 rod by aligning the block's hole with the rod and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "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 by opening its fingers to separate from the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves down-right towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical block on the right side of the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand holds the white cylindrical object and moves it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod, adjusting position continuously during the assembly process."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00049", "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 on the wooden tray, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward and rightward from the wooden tray area to approach the white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the white hollow cylinder on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the white hollow cylinder on the purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_release: Right hand lifts and releases the front-right white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "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 cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 2385, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the green block toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand retreats away from the assembled green block while empty."}], "episode_index": 3}
+{"source_uid": "18ceb2af49c65e3a", "num_frames": 2679, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand rotates the wrist slightly and moves upward, adjusting fingers to a steady open posture. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "5c047d96-e585-4a5f-a616-7703ed857df2"}, {"label": "valid", "start_step": 0, "end_step": 2648, "id": "iRxC825gZp0-L46Jsc3Ej"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and left toward the green hexagonal block in front of the wooden peg base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal nut resting on the table near the wooden assembly base to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 181, "end_step": 324, "id": "dcf24032-5bea-4e12-a239-e2cf04c4c7e4"}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to position directly over the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small wrist and finger adjustments to properly seat the nut in the assembly position."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the seated green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg to rest on the wooden assembly board, opening fingers to release the block."}, {"label": "goal", "start_step": 325, "end_step": 426, "id": "8c8eb522-ff31-4ab0-84d0-552f8acc8d14"}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves toward the white hexagonal block on the table, closing fingers around the block and adjusting grip to secure the hold."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the table without movement."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 427, "end_step": 573, "id": "0841e93a-2086-4513-9c23-1675e1384044"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and moves it downward to fit the nut onto the post until it is stably supported by the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut on the table surface, with fingers slightly open and extended."}, {"label": "goal", "start_step": 574, "end_step": 666, "id": "54b09155-8044-45c1-a3e9-6f1deb6683fb"}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to establish a grip on the nut."}, {"label": "goal", "start_step": 667, "end_step": 792, "id": "7a89550c-fd5d-4797-a752-6426fa6ff2ec"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the grasped white hexagonal nut through the air toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and slides the nut onto the peg to complete the mating action."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg to fully seat it on the wooden pegboard, opening fingers to release the block as the press completes."}, {"label": "goal", "start_step": 793, "end_step": 888, "id": "ffc976cc-c2a6-4066-a5a5-4afb4df1fd76"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grasp on the nut."}, {"label": "goal", "start_step": 889, "end_step": 1017, "id": "ba9cead2-e52c-4d4e-94ed-62bf6156ec87"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal block horizontally to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, lowers the block to fit onto the peg, opens its fingers to release the block onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and toward the green hexagonal block placed on the black table adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 1018, "end_step": 1095, "id": "e8ef5f8d-3680-43a5-b375-e925ffb09609"}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table to form a grip."}, {"label": "goal", "start_step": 1096, "end_step": 1271, "id": "1801275d-5905-4e06-b428-61c6127abdcd"}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut along the rod to its seated position, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand holds the green cylindrical block, aligns its hole with the purple vertical rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "goal", "start_step": 1272, "end_step": 1448, "id": "81421ac2-f8f9-45e4-97c2-8c05bba6c0c3"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward empty-handed toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the front white hexagonal nut on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal cylinder resting on the black table surface, forming a stable grip."}, {"label": "goal", "start_step": 1449, "end_step": 1922, "id": "a936680e-cc16-4464-a410-d05e8c5f43d4"}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white hexagonal cylinder toward the purple rod, misaligns the part, opens fingers to release the cylinder which falls onto the table below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward with empty fingers to approach the fallen white hexagonal cylinder on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal cylinder, making small adjustments to establish a stable grip on the part."}, {"label": "subtasks", "start_step": 1710, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward back to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, lowering the part to fit it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on the wooden stacking base, opening fingers to break contact with the block."}, {"label": "goal", "start_step": 1923, "end_step": 2009, "id": "efb6b417-1560-4c9d-a35a-a1002da82612"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut resting on the table adjacent to the wooden base, keeping fingers open during movement."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 2010, "end_step": 2114, "id": "f32c365a-370b-4253-8ddd-5ae0c013a900"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand carries the white hexagonal block toward the empty position on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty peg on the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2204, "id": "9e853d84-7db7-49f3-bbff-4102c83a0121"}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand holds the white cylindrical block with green base, lifts it off the dark table surface, and transports it upward and leftward to the position directly above the empty slot on the wooden block tray."}, {"label": "goal", "start_step": 2205, "end_step": 2366, "id": "520eaff1-7f82-419f-876e-247a7b2c894e"}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block with green base downward into the empty slot on the wooden block tray until the block is supported by the tray, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and rightward away from the wooden block tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green cube on the table, with fingers extended and no contact made with the cube."}, {"label": "goal", "start_step": 2367, "end_step": 2453, "id": "069faf31-8c7a-40ae-aabc-e1cf690c4272"}, {"label": "subtasks", "start_step": 2400, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the green cube, closing fingers and adjusting contact positions to form a grip on the cube."}, {"label": "goal", "start_step": 2454, "end_step": 2615, "id": "846dd521-c108-47a0-88d7-16f1dcaf75bd"}, {"label": "subtasks", "start_step": 2475, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the green ring block completely off the table surface, transporting the block upward and leftward to the position directly above the empty white peg on the stacked block assembly."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green ring block with the empty white peg, moving the block downward to fit the hole onto the peg."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place: Right hand lowers the green ring block fully onto the supporting white block below to rest stably on the block stack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the green ring block, separating the hand from the placed block."}, {"label": "home", "start_step": 2649, "end_step": 2678, "id": "5y9VjguX9MQEQ4G1oXPDc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand rotates the wrist slightly and moves upward, adjusting fingers to a steady open posture. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and left toward the green hexagonal block in front of the wooden peg base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal nut resting on the table near the wooden assembly base to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to position directly over the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small wrist and finger adjustments to properly seat the nut in the assembly position."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the seated green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg to rest on the wooden assembly board, opening fingers to release the block."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves toward the white hexagonal block on the table, closing fingers around the block and adjusting grip to secure the hold."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the table without movement."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and moves it downward to fit the nut onto the post until it is stably supported by the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut on the table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the grasped white hexagonal nut through the air toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and slides the nut onto the peg to complete the mating action."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg to fully seat it on the wooden pegboard, opening fingers to release the block as the press completes."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal block horizontally to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, lowers the block to fit onto the peg, opens its fingers to release the block onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and toward the green hexagonal block placed on the black table adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut along the rod to its seated position, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand holds the green cylindrical block, aligns its hole with the purple vertical rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward empty-handed toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the front white hexagonal nut on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal cylinder resting on the black table surface, forming a stable grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white hexagonal cylinder toward the purple rod, misaligns the part, opens fingers to release the cylinder which falls onto the table below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward with empty fingers to approach the fallen white hexagonal cylinder on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal cylinder, making small adjustments to establish a stable grip on the part."}, {"label": "subtasks", "start_step": 1710, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward back to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, lowering the part to fit it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on the wooden stacking base, opening fingers to break contact with the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut resting on the table adjacent to the wooden base, keeping fingers open during movement."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand carries the white hexagonal block toward the empty position on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty peg on the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand holds the white cylindrical block with green base, lifts it off the dark table surface, and transports it upward and leftward to the position directly above the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block with green base downward into the empty slot on the wooden block tray until the block is supported by the tray, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and rightward away from the wooden block tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green cube on the table, with fingers extended and no contact made with the cube."}, {"label": "subtasks", "start_step": 2400, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the green cube, closing fingers and adjusting contact positions to form a grip on the cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the green ring block completely off the table surface, transporting the block upward and leftward to the position directly above the empty white peg on the stacked block assembly."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green ring block with the empty white peg, moving the block downward to fit the hole onto the peg."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place: Right hand lowers the green ring block fully onto the supporting white block below to rest stably on the block stack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the green ring block, separating the hand from the placed block."}], "episode_index": 4}
+{"source_uid": "e358c28583112380", "num_frames": 2452, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly rightward and upward with fingers slightly opening to adjust its position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "0d47fcfb-3593-40fe-9399-5260d461a021"}, {"label": "valid", "start_step": 0, "end_step": 2425, "id": "gAqwOtoPgMxZHTRe3ZJMO"}, {"label": "subtasks", "start_step": 38, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 142, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 181, "end_step": 369, "id": "747d7fa4-1d2c-4cc6-875a-2ee0b68a8852"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and moves it toward the wooden board with purple pegs."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 370, "end_step": 465, "id": "11bb1dcf-0c56-4c81-abdd-bf005efcc936"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 466, "end_step": 600, "id": "37454e7a-280a-44be-a3ce-c87c17c53ea9"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully off the table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part rightward and upward to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the target vertical peg by lowering it down and fitting the part's hole onto the peg."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening fingers, separating from the part."}, {"label": "goal", "start_step": 601, "end_step": 699, "id": "a3701c7d-a3e9-42f7-adab-722095704b7f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the lower left of the table, approaching the part without making contact."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 700, "end_step": 837, "id": "00ef8e0c-8c82-43a2-bf15-b60485b8c76c"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the front-left vertical peg on the wooden base, moving downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 838, "end_step": 924, "id": "50c6c25d-38d7-4110-9590-8f9606baefbe"}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 885, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 925, "end_step": 1083, "id": "14bcb9b6-5c06-4c1a-9895-229816cd3466"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1084, "end_step": 1152, "id": "77aa5140-a949-4ada-8621-693e7c9e0826"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the peg group area to approach the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip."}, {"label": "goal", "start_step": 1153, "end_step": 1338, "id": "4820adb2-9d6b-4b59-a31b-4bbe8e186998"}, {"label": "subtasks", "start_step": 1170, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and leftwards towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical peg on the wooden building block base, fingers open and separate from the peg."}, {"label": "goal", "start_step": 1339, "end_step": 1449, "id": "9cdffb17-4190-40cd-96cf-b6be68011aa0"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the dark table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1450, "end_step": 1629, "id": "c017f43a-01f5-4faa-80cb-ffbc9a1bf741"}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal hollow piece on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod and the wooden base toward the right side."}, {"label": "goal", "start_step": 1630, "end_step": 1707, "id": "b46d625b-2230-4fb8-bff6-8dfd7e3ccb4f"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right from the wooden block set towards the upper white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers closing to adjust grip."}, {"label": "goal", "start_step": 1708, "end_step": 1845, "id": "b080efa4-96e1-40da-b640-a37d9f33d524"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1846, "end_step": 1932, "id": "0f6ed7a0-3053-4151-8a70-091734d07821"}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1933, "end_step": 2160, "id": "e27d2feb-e4bf-4984-bb02-48d100f1fe32"}, {"label": "subtasks", "start_step": 1950, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits the block onto the rod, and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the central wooden rack with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches towards the green block on the right lower area of the table."}, {"label": "goal", "start_step": 2161, "end_step": 2229, "id": "bce2c736-3098-45f9-a786-3472e4fdf6c1"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2230, "end_step": 2385, "id": "9c0e94fe-9547-4c71-8937-ddde27470acb"}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the front-right test tube with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the front-right test tube with a purple top, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the front-right test tube, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2426, "end_step": 2451, "id": "SII74KoiR9n4rhHm6HM7u"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly rightward and upward with fingers slightly opening to adjust its position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 38, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 142, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and moves it toward the wooden board with purple pegs."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully off the table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part rightward and upward to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the target vertical peg by lowering it down and fitting the part's hole onto the peg."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening fingers, separating from the part."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the lower left of the table, approaching the part without making contact."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the front-left vertical peg on the wooden base, moving downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 885, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the peg group area to approach the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and leftwards towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical peg on the wooden building block base, fingers open and separate from the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the dark table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal hollow piece on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod and the wooden base toward the right side."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right from the wooden block set towards the upper white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits the block onto the rod, and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the central wooden rack with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches towards the green block on the right lower area of the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the front-right test tube with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the front-right test tube with a purple top, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the front-right test tube, with fingers opening and separating from the block."}], "episode_index": 5}
+{"source_uid": "da72d47a5590fd0e", "num_frames": 2250, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block in front of the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "db96ce28-e97e-47e7-bbb7-071a70bf05e4"}, {"label": "valid", "start_step": 0, "end_step": 2226, "id": "UAMh0JcaN5CYU5-Yd-nRV"}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black desktop."}, {"label": "goal", "start_step": 205, "end_step": 342, "id": "f5c9f7a6-8b43-4e69-8818-2f729c1b8d70"}, {"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 desktop without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the purple rod to complete insertion preparation."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 343, "end_step": 423, "id": "7f5fb950-d28c-42fc-848e-e34c4fbe8642"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the blocks on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 424, "end_step": 576, "id": "f9a5a4af-732f-4c53-bc4c-f03c0bb74e17"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it down to fit."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white annular block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 577, "end_step": 666, "id": "fa28e807-62f2-41df-b7f0-cb4676fae8fe"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 667, "end_step": 813, "id": "ef624eb3-4736-46ba-b19b-c111f3c64882"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple pillar on the wooden rack."}, {"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 desktop without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple pillar to fix it in position."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple pillar without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white building block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 814, "end_step": 900, "id": "97d1270c-db30-4b10-bb42-6ee308099ae7"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "goal", "start_step": 901, "end_step": 1035, "id": "9ac55e06-c89e-4e7e-8993-72cdfd90ed1c"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop 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": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pressing it down to fit stably."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward to approach the green hexagonal block on the black tabletop, without touching the block yet."}, {"label": "goal", "start_step": 1036, "end_step": 1080, "id": "fe51ae41-3522-4f32-be77-258f6aa76d43"}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the tabletop, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1081, "end_step": 1212, "id": "719a38e8-170f-4e5c-a589-8e62f1124bc1"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green hexagonal block up, making it fully leave the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the green hexagonal block to move toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, and fits the block onto the rod completely."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block completely."}, {"label": "goal", "start_step": 1213, "end_step": 1308, "id": "bc474ae9-1cfc-49b5-9de4-0c1ffd2ac1a1"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1309, "end_step": 1449, "id": "792bfd3e-9334-41f2-9ce8-02c9a4fe5dc9"}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the upper white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 1450, "end_step": 1533, "id": "258cebe8-b487-480b-a04d-9903e79414d1"}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the upper white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 1534, "end_step": 1656, "id": "b04dfb1e-97d9-4594-8c70-da4413ced8ce"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple vertical rod on the wooden tray."}, {"label": "goal", "start_step": 1657, "end_step": 1728, "id": "0e342acd-0778-40b0-b306-df389928ceb7"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1977, "id": "a58cb9e9-5271-4ed3-bfc1-97305209d09c"}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the wooden rack with multiple stacked blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden rack, then releases the block after it is properly placed."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the right side of the table."}, {"label": "goal", "start_step": 1978, "end_step": 2040, "id": "cf991987-2fa4-43dd-9869-40dea20c4828"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand contacts the green cubic object, fingers close to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green ring from the black table surface."}, {"label": "goal", "start_step": 2041, "end_step": 2184, "id": "e9c6207c-6c50-4290-a2d8-43b039e0862f"}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with the purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_place: Right hand aligns the green ring with the purple tip of the white bottle and places it onto the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green ring from its grasp."}, {"label": "home", "start_step": 2227, "end_step": 2249, "id": "RUriIh8sOcV_dNSLoAboZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block in front of the left side of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black desktop."}, {"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 desktop without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the purple rod to complete insertion preparation."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the blocks on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it down to fit."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white annular block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple pillar on the wooden rack."}, {"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 desktop without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple pillar to fix it in position."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple pillar without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white building block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop 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": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pressing it down to fit stably."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward to approach the green hexagonal block on the black tabletop, without touching the block yet."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the tabletop, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green hexagonal block up, making it fully leave the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the green hexagonal block to move toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, and fits the block onto the rod completely."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block completely."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the wooden rack with multiple stacked blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden rack, then releases the block after it is properly placed."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the right side of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand contacts the green cubic object, fingers close to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green ring from the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with the purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_place: Right hand aligns the green ring with the purple tip of the white bottle and places it onto the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green ring from its grasp."}], "episode_index": 6}
+{"source_uid": "25e7254be284dbea", "num_frames": 2298, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with slight wrist rotation and finger extension. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "2741976b-5273-43c0-b7f8-e4fe35276450"}, {"label": "valid", "start_step": 0, "end_step": 2273, "id": "CnQMe9y-Y1yFP5XtqGC-p"}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a grasp on it."}, {"label": "goal", "start_step": 169, "end_step": 360, "id": "12333ce8-afcc-42cf-91c2-cdcd5647c806"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on 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 operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block on the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white block onto the purple post of the wooden base and releases the block."}, {"label": "goal", "start_step": 361, "end_step": 444, "id": "e4e195e8-790c-4c3e-8828-a14429a8c065"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 445, "end_step": 561, "id": "3845bea3-6df1-49be-8705-537c7af91296"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: 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": 488, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden base."}, {"label": "goal", "start_step": 562, "end_step": 633, "id": "0a5effe8-6528-4275-94a4-73d2a9d43d4d"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 634, "end_step": 810, "id": "c6b957bb-d4e6-4f52-a133-27ccbf94d199"}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden stacking base and releases the block."}, {"label": "goal", "start_step": 811, "end_step": 903, "id": "02c78b61-f022-41ed-bdef-3f350ad4f8fb"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 904, "end_step": 1053, "id": "1733999a-2b56-464f-bff8-cf947c48a3af"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1054, "end_step": 1122, "id": "a3fbe769-fa7b-458b-b7b2-cfa645c68d90"}, {"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 operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1123, "end_step": 1275, "id": "8a83b1bf-79d4-4648-9450-4f3c830463c4"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves away from the wooden base after placing the green block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-right area of the black table."}, {"label": "goal", "start_step": 1276, "end_step": 1344, "id": "9cf7803b-8498-46d4-94ab-301daf11ad05"}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table, adjusting grip to be stable."}, {"label": "goal", "start_step": 1345, "end_step": 1494, "id": "c0b96e31-4434-4b0c-9311-1f4223facb71"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the short purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the short purple peg on the wooden base, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black table surface."}, {"label": "goal", "start_step": 1495, "end_step": 1590, "id": "71448131-a84b-4aed-af7d-457048054392"}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1737, "id": "67c3ebc4-8e23-46a0-997d-824c363bd0bb"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylinder placed on the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upwards away from the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1738, "end_step": 1788, "id": "89c1f3aa-717a-4c63-ac63-33150da28b22"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1789, "end_step": 1926, "id": "f7194760-8ed8-46b7-9f9e-0559dfffdbb5"}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod until it is supported by the underlying block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod."}, {"label": "goal", "start_step": 1927, "end_step": 2010, "id": "5c999ba1-8f6a-4321-b85c-761ccb58cd2e"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right area of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2011, "end_step": 2241, "id": "5652a34b-6cac-49a0-8bf9-5de5434b8f28"}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the wooden tray with white blocks."}, {"label": "subtasks", "start_step": 2085, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green ring onto the white block with the purple top on the wooden tray, adjusting its position to fit."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green ring after placing it onto the target block."}, {"label": "home", "start_step": 2274, "end_step": 2297, "id": "V0w-NJPDOF9R6bKyOowXU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with slight wrist rotation and finger extension. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a grasp on it."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on 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 operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block on the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white block onto the purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: 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": 488, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden stacking base and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves away from the wooden base after placing the green block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-right area of the black table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table, adjusting grip to be stable."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the short purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the short purple peg on the wooden base, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylinder placed on the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upwards away from the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod until it is supported by the underlying block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right area of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the wooden tray with white blocks."}, {"label": "subtasks", "start_step": 2085, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green ring onto the white block with the purple top on the wooden tray, adjusting its position to fit."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green ring after placing it onto the target block."}], "episode_index": 7}
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..12a90e94e6506ec00b94409c88321e7b49959ee0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,8 @@
+{"source_uid": "798b826e0dd8a236", "num_frames": 2891, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green block at the bottom of the leftmost peg on the wooden base, with fingers slightly adjusting posture during movement."}, {"label": "goal", "start_step": 0, "end_step": 245, "id": "73ba655e-19ea-4d24-9533-340f4145abb1"}, {"label": "valid", "start_step": 0, "end_step": 2858, "id": "VfGEG3XYOTSugwY7smaFQ"}, {"label": "subtasks", "start_step": 142, "end_step": 209, "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 block at the bottom of the leftmost peg, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "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 at the bottom of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "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 black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 246, "end_step": 445, "id": "a5ba603c-a785-4412-b4ac-c04307ea9a0b"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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 vertically up from the black table until it is fully off the supporting surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 285, "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: mate: Right hand mates the green cubic block onto the leftmost purple peg by lowering it and fitting it into the assembly position."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "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 on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the left peg of the wooden base and releases the green block."}, {"label": "goal", "start_step": 446, "end_step": 555, "id": "e8a1ea10-8dd2-4750-94aa-719c3981772b"}, {"label": "subtasks", "start_step": 458, "end_step": 517, "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 surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "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 adjusting to form a stable grip."}, {"label": "goal", "start_step": 556, "end_step": 790, "id": "bdf6e485-3b77-4a1e-82ea-486079da1e06"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "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 object off the table and transports it toward the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost peg of the pegboard, fitting it down onto the peg."}, {"label": "subtasks", "start_step": 630, "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: hold: Right hand holds the white hexagonal object on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 791, "end_step": 910, "id": "66f9cfb3-4825-4a7a-9682-d214e415c64d"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the table with fingers closing around it."}, {"label": "goal", "start_step": 911, "end_step": 1160, "id": "7b7dd769-1210-4c8e-914b-c0f37065eaf5"}, {"label": "subtasks", "start_step": 922, "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: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "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 onto the left-front peg of the wooden rack, aligning the part's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the left-front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple rod, adjusting the block to fit securely on the rod."}, {"label": "goal", "start_step": 1161, "end_step": 1331, "id": "1a922dc6-92e6-4fdf-9bf5-ea78f7a2ea9f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 1332, "end_step": 1487, "id": "6894f3b1-7181-4365-8db9-0b08fc046ce5"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1431, "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 hexagonal part with the purple peg and lowers it onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "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 pegboard with white and purple pegs toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1488, "end_step": 1589, "id": "d56ecda8-949a-4acd-962e-446c46bf05d1"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1590, "end_step": 1766, "id": "dbaefea4-e154-48c0-b7c4-d4ed4a916f0f"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg above the green block on the wooden base."}, {"label": "goal", "start_step": 1767, "end_step": 1895, "id": "85003d2f-63fe-4463-919b-ed44d0ca5e29"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1896, "end_step": 2048, "id": "2515db3d-3e12-4cf5-9ecd-d37b9b7638e7"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg by aligning the hole and lowering it down."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the green block of the stack, with fingers opening slightly."}, {"label": "goal", "start_step": 2049, "end_step": 2168, "id": "f840454d-b1ae-41d5-885d-f7b0ab8a3319"}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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 and rightward to approach the white cylinder on the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylinder on the table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder on the table surface without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table near the right side of the wooden peg base, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2169, "end_step": 2285, "id": "62aaae8d-30ac-4987-b928-66ff173b3dda"}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "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 cylindrical piece off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "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 piece with the purple peg by lowering it to align the piece's hole with the peg and fit them together."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "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 of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2286, "end_step": 2376, "id": "8c5f11fa-2480-4fe0-be00-74c59f132e66"}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2377, "end_step": 2523, "id": "1ca4cb4c-f754-4257-a38e-bf2bc9aea13d"}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "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 cylinder off the dark work surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "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 cylinder with the purple peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder fitted on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple peg, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the purple peg on the wooden base."}, {"label": "goal", "start_step": 2524, "end_step": 2619, "id": "0cbf8895-1ff0-4bfa-8490-dfbd72d6e7e4"}, {"label": "subtasks", "start_step": 2535, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block with purple top on the wooden rack, fingers open gradually."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 2620, "end_step": 2823, "id": "7b1b6224-6ce5-4838-b3e6-58b801655b35"}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the rightmost white pillar on the block tower."}, {"label": "subtasks", "start_step": 2685, "end_step": 2834, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green ring onto the top of the rightmost white pillar and releases the object."}, {"label": "home", "start_step": 2859, "end_step": 2890, "id": "42ekcqMrl3ubmBdoBfGhU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green block at the bottom of the leftmost peg on the wooden base, with fingers slightly adjusting posture during movement."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "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 block at the bottom of the leftmost peg, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "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 at the bottom of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "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 black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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 vertically up from the black table until it is fully off the supporting surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 285, "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: mate: Right hand mates the green cubic block onto the leftmost purple peg by lowering it and fitting it into the assembly position."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "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 on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the left peg of the wooden base and releases the green block."}, {"label": "subtasks", "start_step": 458, "end_step": 517, "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 surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "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 object off the table and transports it toward the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost peg of the pegboard, fitting it down onto the peg."}, {"label": "subtasks", "start_step": 630, "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: hold: Right hand holds the white hexagonal object on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 922, "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: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "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 onto the left-front peg of the wooden rack, aligning the part's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the left-front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple rod, adjusting the block to fit securely on the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1431, "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 hexagonal part with the purple peg and lowers it onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "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 pegboard with white and purple pegs toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg by aligning the hole and lowering it down."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the green block of the stack, with fingers opening slightly."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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 and rightward to approach the white cylinder on the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylinder on the table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder on the table surface without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table near the right side of the wooden peg base, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "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 cylindrical piece off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "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 piece with the purple peg by lowering it to align the piece's hole with the peg and fit them together."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "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 of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "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 cylinder off the dark work surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "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 cylinder with the purple peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder fitted on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple peg, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block with purple top on the wooden rack, fingers open gradually."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the rightmost white pillar on the block tower."}, {"label": "subtasks", "start_step": 2685, "end_step": 2834, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green ring onto the top of the rightmost white pillar and releases the object."}], "episode_index": 0}
+{"source_uid": "8549a65ab3082ade", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: other:adjust_hand_posture: Right hand rotates its wrist and adjusts finger posture upward."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "7f492df6-5bab-4867-b7b9-69283db7562c"}, {"label": "valid", "start_step": 0, "end_step": 2926, "id": "0j4vG4x8Rl4aNdKQzBik1"}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: idle: Right hand stays empty in the air at the right side without moving."}, {"label": "subtasks", "start_step": 112, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block located below the wooden base on the black table."}, {"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 home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block below the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 271, "end_step": 423, "id": "11fa7a4c-df12-4ad7-8f7f-71cc522457ba"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it stably."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand retreats away from the wooden base assembly area."}, {"label": "goal", "start_step": 424, "end_step": 537, "id": "7cf38b54-88f7-4231-972d-364080d1e521"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "goal", "start_step": 538, "end_step": 729, "id": "fcc427d7-5399-4bc8-999f-358935fad205"}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand releases the white hexagonal block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white block it holds on the purple rod of the wooden base."}, {"label": "goal", "start_step": 730, "end_step": 810, "id": "90989c0c-138a-4309-a26f-de19b624068f"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 811, "end_step": 972, "id": "24387661-3518-4cdb-b4b8-688e543bd8d1"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 870, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downwards from the assembly plate towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 973, "end_step": 1071, "id": "c2132c81-a9a5-4bf5-bf0b-d605fdd0cb65"}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1072, "end_step": 1329, "id": "bbecc070-a51b-4569-88e8-10cade67128f"}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit tightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the green block on the table without touching the block."}, {"label": "goal", "start_step": 1330, "end_step": 1422, "id": "276fa0d2-e3a9-4664-ac20-c57aabe919fc"}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the green block on the table and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 1423, "end_step": 1593, "id": "543cbec3-a69b-46a7-940c-73af97d1c829"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green cube towards the white peg on the wooden base until it is above the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the green cube with the white peg by aligning the hole of the cube with the peg and pushing it down onto the peg."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1594, "end_step": 1845, "id": "88201837-f867-4333-9fce-8322ad3aa967"}, {"label": "subtasks", "start_step": 1628, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers continuously to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1846, "end_step": 1995, "id": "3fa4c32b-a59c-4596-ae6b-03450a7fdccb"}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts the block down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly upwards away from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 1996, "end_step": 2082, "id": "fe2e789e-b7a2-46f3-b4b0-663eb559d3d9"}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table next to the wooden base."}, {"label": "goal", "start_step": 2083, "end_step": 2337, "id": "d8108037-bd84-4083-9bea-773c37ec1cb8"}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2168, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, adjusts its position to be stable, then releases the block by opening fingers."}, {"label": "subtasks", "start_step": 2325, "end_step": 2377, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2338, "end_step": 2430, "id": "555f87db-da24-44dd-9234-42fc6338eac8"}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the white hexagonal block, fingers close to establish a stable grasp."}, {"label": "goal", "start_step": 2431, "end_step": 2589, "id": "189124c7-9ffb-4469-b71b-8c13fc86a4d5"}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical object which is now placed on the purple rod."}, {"label": "goal", "start_step": 2590, "end_step": 2688, "id": "c19a6bf3-1acf-40ba-8151-e8088eebfc3b"}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves towards the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 2689, "end_step": 2895, "id": "6ce4b6f9-89bb-475f-b569-f41b4293c447"}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the purple-tipped white post on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the green block with the purple-tipped white post and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the post."}, {"label": "home", "start_step": 2927, "end_step": 2955, "id": "3BJt7E9Rm5tO-aPDprY3O"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: other:adjust_hand_posture: Right hand rotates its wrist and adjusts finger posture upward."}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: idle: Right hand stays empty in the air at the right side without moving."}, {"label": "subtasks", "start_step": 112, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block located below the wooden base on the black table."}, {"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 home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block below the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it stably."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand retreats away from the wooden base assembly area."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand releases the white hexagonal block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white block it holds on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 870, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downwards from the assembly plate towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit tightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the green block on the table without touching the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the green block on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green cube towards the white peg on the wooden base until it is above the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the green cube with the white peg by aligning the hole of the cube with the peg and pushing it down onto the peg."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers continuously to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts the block down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly upwards away from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2010, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2168, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, adjusts its position to be stable, then releases the block by opening fingers."}, {"label": "subtasks", "start_step": 2325, "end_step": 2377, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the white hexagonal block, fingers close to establish a stable grasp."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical object which is now placed on the purple rod."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves towards the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the purple-tipped white post on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the green block with the purple-tipped white post and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the post."}], "episode_index": 1}
+{"source_uid": "88e33d73743db0e3", "num_frames": 2833, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its wrist and finger positions from the initial upward-extended pose to a neutral resting posture, remaining empty without contacting any objects on the table. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "c8f0292a-3dea-46ee-ad7c-691cb890897d"}, {"label": "valid", "start_step": 0, "end_step": 2804, "id": "l9ol7BJ5CuI7OTEwqt4a9"}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 142, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting its finger and wrist positions to form a stable grasp around the object."}, {"label": "goal", "start_step": 208, "end_step": 351, "id": "60d80c98-8dc6-4b71-b0f1-486fe74fbbc2"}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block backward through the air toward the purple peg mounted on the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block slightly to insert the peg into the hole."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg, lowering the block until it rests stably on the surface of the wooden peg base."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the wooden block assembly toward the white hexagonal nut on the black table surface, not yet touching the target nut."}, {"label": "goal", "start_step": 352, "end_step": 468, "id": "7742e923-2b20-4e05-8f4b-cf78706a4e7b"}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making minor finger and wrist adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut on the table steadily without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the white hexagonal nut on the table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 469, "end_step": 732, "id": "aa49e1e3-d051-46fa-9ccc-f7c540b964ce"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it to the position directly above the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, moves the nut downward to fit onto the peg, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: press: Right hand presses the white cylindrical block on the wooden assembly board vertically downward to seat it on the underlying green block."}, {"label": "goal", "start_step": 733, "end_step": 822, "id": "44d9fa24-73dc-45df-a4a4-e8f468807dd3"}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the assembly board toward the front-left white hexagonal nut on the table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting contact to form a stable grasp."}, {"label": "goal", "start_step": 823, "end_step": 954, "id": "1aea25c0-9152-4ada-bde6-77d80c206dee"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple vertical rod and fits the block onto the rod to establish the assembled state."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal block resting on the table surface, with no contact to the block yet."}, {"label": "goal", "start_step": 955, "end_step": 1173, "id": "d30d33f8-3fc2-4244-ae28-26c388cf5b07"}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_mate: Right hand lifts the grasped white hexagonal block off the table surface, moves it toward the purple vertical rod on the wooden base, and aligns the block's central hole with the rod to start the assembly process."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the table near the wooden assembly base."}, {"label": "goal", "start_step": 1174, "end_step": 1449, "id": "663b6a7c-f193-46e1-9751-bcc4aa4ec6d7"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to position it directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, fitting the nut onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until the nut seats firmly on the stacked white nut below, supported by the rod and underlying nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: retreat: Right hand moves empty downward and away from the wooden assembly base after releasing the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves toward the green hexagonal block on the dark table surface with fingers slightly extended."}, {"label": "goal", "start_step": 1450, "end_step": 1505, "id": "7dcb3797-b0f7-4fc7-9bb5-7becaa97ac22"}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts finger positions to form a stable grasp on the green hexagonal block, which remains resting on the table surface."}, {"label": "goal", "start_step": 1506, "end_step": 1649, "id": "242c9364-060c-4473-861a-1886e106302c"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple post without noticeable movement of the hand or block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1650, "end_step": 1751, "id": "68cc9a0d-9489-4b15-b1d4-52551fc174b3"}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand presses fingers against the white hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "goal", "start_step": 1752, "end_step": 1895, "id": "57f9a294-c4c8-4033-b518-b574e27b6ace"}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface and moves it upward and backward toward the wooden block assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, separating from the block."}, {"label": "goal", "start_step": 1896, "end_step": 1994, "id": "7d8bfe04-0879-4e75-9bea-918db81b8124"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the black table surface near the wooden block stand."}, {"label": "goal", "start_step": 1995, "end_step": 2225, "id": "76545d8d-36d8-4be6-b0c9-17f00dd02008"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then transports it to the position directly above the empty slot next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to place it onto the empty slot on the wooden stand, with the block fully supported by the stand at the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the placed white hexagonal block on the wooden stand steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block, separating the hand from the block which stays on the wooden stand."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: idle: Right hand stays near the stacked blocks on the wooden base without moving, with its index finger lightly touching the purple rod on the base."}, {"label": "goal", "start_step": 2226, "end_step": 2321, "id": "923c2e72-9eb4-42d2-aa86-40a2aedb3303"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the white hexagonal nut."}, {"label": "goal", "start_step": 2322, "end_step": 2489, "id": "9028bb8b-f580-47dc-94ec-00d10652236b"}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the table surface and moves it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the vertical purple rod on the stand, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white cylindrical block along the purple rod until the block rests stably on the white base of the stand."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty from the white bottle on the wooden rack downward toward the green square block on the right black table surface, with fingers extended as it approaches the target block."}, {"label": "goal", "start_step": 2490, "end_step": 2582, "id": "62350bbf-59d3-42ff-9401-38cde56d3899"}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the top and side of the green square block, fingers close around the block and adjust contact points to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green square block on the table surface without obvious visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the green ring-shaped block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "goal", "start_step": 2583, "end_step": 2762, "id": "79aa2b78-ad82-48d7-bebd-4d49e924e70a"}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green ring-shaped block through the air toward the white cylinder with a purple cap on the light wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the green ring-shaped block with the white cylinder with a purple cap and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release_retreat: Right hand opens fingers to release the fitted green ring-shaped block and moves backward away from the light wooden tray."}, {"label": "home", "start_step": 2805, "end_step": 2832, "id": "zF0uvmV0vyaevMwa_8QcR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its wrist and finger positions from the initial upward-extended pose to a neutral resting posture, remaining empty without contacting any objects on the table. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 142, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting its finger and wrist positions to form a stable grasp around the object."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block backward through the air toward the purple peg mounted on the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block slightly to insert the peg into the hole."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg, lowering the block until it rests stably on the surface of the wooden peg base."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the wooden block assembly toward the white hexagonal nut on the black table surface, not yet touching the target nut."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making minor finger and wrist adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut on the table steadily without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the white hexagonal nut on the table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it to the position directly above the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, moves the nut downward to fit onto the peg, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: press: Right hand presses the white cylindrical block on the wooden assembly board vertically downward to seat it on the underlying green block."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the assembly board toward the front-left white hexagonal nut on the table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple vertical rod and fits the block onto the rod to establish the assembled state."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal block resting on the table surface, with no contact to the block yet."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_mate: Right hand lifts the grasped white hexagonal block off the table surface, moves it toward the purple vertical rod on the wooden base, and aligns the block's central hole with the rod to start the assembly process."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the table near the wooden assembly base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to position it directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, fitting the nut onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until the nut seats firmly on the stacked white nut below, supported by the rod and underlying nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: retreat: Right hand moves empty downward and away from the wooden assembly base after releasing the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves toward the green hexagonal block on the dark table surface with fingers slightly extended."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts finger positions to form a stable grasp on the green hexagonal block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple post without noticeable movement of the hand or block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand presses fingers against the white hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface and moves it upward and backward toward the wooden block assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, separating from the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the black table surface near the wooden block stand."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then transports it to the position directly above the empty slot next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to place it onto the empty slot on the wooden stand, with the block fully supported by the stand at the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the placed white hexagonal block on the wooden stand steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block, separating the hand from the block which stays on the wooden stand."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: idle: Right hand stays near the stacked blocks on the wooden base without moving, with its index finger lightly touching the purple rod on the base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the white hexagonal nut."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the table surface and moves it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the vertical purple rod on the stand, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white cylindrical block along the purple rod until the block rests stably on the white base of the stand."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty from the white bottle on the wooden rack downward toward the green square block on the right black table surface, with fingers extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the top and side of the green square block, fingers close around the block and adjust contact points to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green square block on the table surface without obvious visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the green ring-shaped block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green ring-shaped block through the air toward the white cylinder with a purple cap on the light wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the green ring-shaped block with the white cylinder with a purple cap and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release_retreat: Right hand opens fingers to release the fitted green ring-shaped block and moves backward away from the light wooden tray."}], "episode_index": 2}
+{"source_uid": "e94d40e1546711a8", "num_frames": 2658, "annotation_status": "loaded", "has_annotation": true, "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 at the left side of the table with fingers slightly spread. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "555abfb4-545f-4c23-9f69-5fb4f036930f"}, {"label": "valid", "start_step": 0, "end_step": 2627, "id": "tEWFvrr5995BM066LkSb9"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white top of the leftmost column on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the grasped white top of the leftmost column downward along the column axis."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 187, "end_step": 348, "id": "3f95f850-cc08-406e-a68f-73f50416cf5f"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "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 table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00009", "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, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green ring downward along the purple peg on the wooden base."}, {"label": "goal", "start_step": 349, "end_step": 450, "id": "0d88b6a0-6dfb-4263-8da1-a3ec2b296aa4"}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_reach: Right hand releases the green ring on the purple peg and reaches toward the white hexagonal block on the dark table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "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 dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "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 dark table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "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 black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 451, "end_step": 636, "id": "0392a9ff-7333-41ed-938a-d00066280e65"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "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 black table and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "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 peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 532, "end_step": 629, "id": "reasoning-language-00017", "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 peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal piece onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 637, "end_step": 735, "id": "1fecc632-06e2-474e-a5a2-1adedb00b5b0"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the front white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the front white hexagonal piece on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 736, "end_step": 951, "id": "a04e9da4-80e4-4b8b-b0fe-aabade32e9b4"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "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 piece off the table and transports it toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost green peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost green peg of the board without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "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 on the right purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 952, "end_step": 1059, "id": "228d6663-3dd0-42ef-91df-b96162e006b7"}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00025", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00026", "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1060, "end_step": 1209, "id": "2470d12c-61d5-4f95-9740-8df19e74020d"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "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 piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod, lowering it onto the rod until it is fitted in place."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "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."}, {"label": "goal", "start_step": 1210, "end_step": 1293, "id": "729e15af-6f71-4d33-9263-7f07fef3a772"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1294, "end_step": 1476, "id": "6936ef49-af11-4273-ac2e-e14829955e38"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "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 from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00035", "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 hexagonal block with the purple rod and inserts the rod into the block to complete initial assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00037", "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 by opening its fingers."}, {"label": "goal", "start_step": 1477, "end_step": 1575, "id": "753918f1-2898-452d-8d28-c6c72e4abee0"}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00038", "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 peg of the wooden rack with fingers adjusting the block position."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "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 with fingers closing and adjusting to fit the block shape."}, {"label": "goal", "start_step": 1576, "end_step": 1704, "id": "3e943b55-52a4-444d-aa0d-0363680fe335"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "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 rod by aligning the block's hole with the rod and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "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 by opening its fingers to separate from the block."}, {"label": "goal", "start_step": 1705, "end_step": 1806, "id": "a930387e-377d-4fe8-b8ad-ed9efba176de"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves down-right towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical block on the right side of the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 1807, "end_step": 2076, "id": "e264ef8a-bb27-4807-b6f5-9a2c798a9f37"}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand holds the white cylindrical object and moves it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod, adjusting position continuously during the assembly process."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00049", "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 on the wooden tray, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2077, "end_step": 2142, "id": "d0c9d2d3-ef3a-433f-8a2f-114858524537"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward and rightward from the wooden tray area to approach the white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the white hollow cylinder on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 2143, "end_step": 2268, "id": "213b63cd-ac29-43e5-a761-bec8001e0554"}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the white hollow cylinder on the purple rod and retreats slightly upward."}, {"label": "goal", "start_step": 2269, "end_step": 2367, "id": "4f23c23f-9734-415a-a7fb-4fa65a3ce5e0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_release: Right hand lifts and releases the front-right white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "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 cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 2368, "end_step": 2595, "id": "82f1364f-741b-46f2-8df2-182a9690f3ef"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the green block toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand retreats away from the assembled green block while empty."}, {"label": "home", "start_step": 2628, "end_step": 2657, "id": "UqwvQJnWF7HEnhfDL__xq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward at the left side of the table with fingers slightly spread. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white top of the leftmost column on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the grasped white top of the leftmost column downward along the column axis."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 202, "end_step": 224, "id": "reasoning-language-00006", "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 table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00009", "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, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green ring downward along the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_reach: Right hand releases the green ring on the purple peg and reaches toward the white hexagonal block on the dark table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "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 dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "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 dark table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "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 black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "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 black table and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "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 peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 532, "end_step": 629, "id": "reasoning-language-00017", "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 peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal piece onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the front white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the front white hexagonal piece on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "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 piece off the table and transports it toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost green peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost green peg of the board without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "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 on the right purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00025", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00026", "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "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 piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod, lowering it onto the rod until it is fitted in place."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "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."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "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 from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00035", "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 hexagonal block with the purple rod and inserts the rod into the block to complete initial assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00037", "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 by opening its fingers."}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00038", "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 peg of the wooden rack with fingers adjusting the block position."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "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 with fingers closing and adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "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 rod by aligning the block's hole with the rod and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "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 by opening its fingers to separate from the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves down-right towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical block on the right side of the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand holds the white cylindrical object and moves it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod, adjusting position continuously during the assembly process."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00049", "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 on the wooden tray, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward and rightward from the wooden tray area to approach the white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the white hollow cylinder on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the white hollow cylinder on the purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_release: Right hand lifts and releases the front-right white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "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 cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 2385, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the green block toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand retreats away from the assembled green block while empty."}], "episode_index": 3}
+{"source_uid": "18ceb2af49c65e3a", "num_frames": 2679, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand rotates the wrist slightly and moves upward, adjusting fingers to a steady open posture. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "5c047d96-e585-4a5f-a616-7703ed857df2"}, {"label": "valid", "start_step": 0, "end_step": 2648, "id": "iRxC825gZp0-L46Jsc3Ej"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and left toward the green hexagonal block in front of the wooden peg base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal nut resting on the table near the wooden assembly base to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 181, "end_step": 324, "id": "dcf24032-5bea-4e12-a239-e2cf04c4c7e4"}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to position directly over the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small wrist and finger adjustments to properly seat the nut in the assembly position."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the seated green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg to rest on the wooden assembly board, opening fingers to release the block."}, {"label": "goal", "start_step": 325, "end_step": 426, "id": "8c8eb522-ff31-4ab0-84d0-552f8acc8d14"}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves toward the white hexagonal block on the table, closing fingers around the block and adjusting grip to secure the hold."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the table without movement."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 427, "end_step": 573, "id": "0841e93a-2086-4513-9c23-1675e1384044"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and moves it downward to fit the nut onto the post until it is stably supported by the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut on the table surface, with fingers slightly open and extended."}, {"label": "goal", "start_step": 574, "end_step": 666, "id": "54b09155-8044-45c1-a3e9-6f1deb6683fb"}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to establish a grip on the nut."}, {"label": "goal", "start_step": 667, "end_step": 792, "id": "7a89550c-fd5d-4797-a752-6426fa6ff2ec"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the grasped white hexagonal nut through the air toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and slides the nut onto the peg to complete the mating action."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg to fully seat it on the wooden pegboard, opening fingers to release the block as the press completes."}, {"label": "goal", "start_step": 793, "end_step": 888, "id": "ffc976cc-c2a6-4066-a5a5-4afb4df1fd76"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grasp on the nut."}, {"label": "goal", "start_step": 889, "end_step": 1017, "id": "ba9cead2-e52c-4d4e-94ed-62bf6156ec87"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal block horizontally to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, lowers the block to fit onto the peg, opens its fingers to release the block onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and toward the green hexagonal block placed on the black table adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 1018, "end_step": 1095, "id": "e8ef5f8d-3680-43a5-b375-e925ffb09609"}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table to form a grip."}, {"label": "goal", "start_step": 1096, "end_step": 1271, "id": "1801275d-5905-4e06-b428-61c6127abdcd"}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut along the rod to its seated position, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand holds the green cylindrical block, aligns its hole with the purple vertical rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "goal", "start_step": 1272, "end_step": 1448, "id": "81421ac2-f8f9-45e4-97c2-8c05bba6c0c3"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward empty-handed toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the front white hexagonal nut on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal cylinder resting on the black table surface, forming a stable grip."}, {"label": "goal", "start_step": 1449, "end_step": 1922, "id": "a936680e-cc16-4464-a410-d05e8c5f43d4"}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white hexagonal cylinder toward the purple rod, misaligns the part, opens fingers to release the cylinder which falls onto the table below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward with empty fingers to approach the fallen white hexagonal cylinder on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal cylinder, making small adjustments to establish a stable grip on the part."}, {"label": "subtasks", "start_step": 1710, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward back to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, lowering the part to fit it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on the wooden stacking base, opening fingers to break contact with the block."}, {"label": "goal", "start_step": 1923, "end_step": 2009, "id": "efb6b417-1560-4c9d-a35a-a1002da82612"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut resting on the table adjacent to the wooden base, keeping fingers open during movement."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 2010, "end_step": 2114, "id": "f32c365a-370b-4253-8ddd-5ae0c013a900"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand carries the white hexagonal block toward the empty position on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty peg on the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2204, "id": "9e853d84-7db7-49f3-bbff-4102c83a0121"}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand holds the white cylindrical block with green base, lifts it off the dark table surface, and transports it upward and leftward to the position directly above the empty slot on the wooden block tray."}, {"label": "goal", "start_step": 2205, "end_step": 2366, "id": "520eaff1-7f82-419f-876e-247a7b2c894e"}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block with green base downward into the empty slot on the wooden block tray until the block is supported by the tray, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and rightward away from the wooden block tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green cube on the table, with fingers extended and no contact made with the cube."}, {"label": "goal", "start_step": 2367, "end_step": 2453, "id": "069faf31-8c7a-40ae-aabc-e1cf690c4272"}, {"label": "subtasks", "start_step": 2400, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the green cube, closing fingers and adjusting contact positions to form a grip on the cube."}, {"label": "goal", "start_step": 2454, "end_step": 2615, "id": "846dd521-c108-47a0-88d7-16f1dcaf75bd"}, {"label": "subtasks", "start_step": 2475, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the green ring block completely off the table surface, transporting the block upward and leftward to the position directly above the empty white peg on the stacked block assembly."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green ring block with the empty white peg, moving the block downward to fit the hole onto the peg."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place: Right hand lowers the green ring block fully onto the supporting white block below to rest stably on the block stack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the green ring block, separating the hand from the placed block."}, {"label": "home", "start_step": 2649, "end_step": 2678, "id": "5y9VjguX9MQEQ4G1oXPDc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand rotates the wrist slightly and moves upward, adjusting fingers to a steady open posture. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and left toward the green hexagonal block in front of the wooden peg base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal nut resting on the table near the wooden assembly base to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to position directly over the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small wrist and finger adjustments to properly seat the nut in the assembly position."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the seated green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg to rest on the wooden assembly board, opening fingers to release the block."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves toward the white hexagonal block on the table, closing fingers around the block and adjusting grip to secure the hold."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the table without movement."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and moves it downward to fit the nut onto the post until it is stably supported by the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut on the table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the grasped white hexagonal nut through the air toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and slides the nut onto the peg to complete the mating action."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg to fully seat it on the wooden pegboard, opening fingers to release the block as the press completes."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal block horizontally to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, lowers the block to fit onto the peg, opens its fingers to release the block onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and toward the green hexagonal block placed on the black table adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut along the rod to its seated position, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand holds the green cylindrical block, aligns its hole with the purple vertical rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward empty-handed toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the front white hexagonal nut on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal cylinder resting on the black table surface, forming a stable grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white hexagonal cylinder toward the purple rod, misaligns the part, opens fingers to release the cylinder which falls onto the table below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward with empty fingers to approach the fallen white hexagonal cylinder on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal cylinder, making small adjustments to establish a stable grip on the part."}, {"label": "subtasks", "start_step": 1710, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward back to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, lowering the part to fit it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on the wooden stacking base, opening fingers to break contact with the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut resting on the table adjacent to the wooden base, keeping fingers open during movement."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand carries the white hexagonal block toward the empty position on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty peg on the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand holds the white cylindrical block with green base, lifts it off the dark table surface, and transports it upward and leftward to the position directly above the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block with green base downward into the empty slot on the wooden block tray until the block is supported by the tray, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and rightward away from the wooden block tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green cube on the table, with fingers extended and no contact made with the cube."}, {"label": "subtasks", "start_step": 2400, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the green cube, closing fingers and adjusting contact positions to form a grip on the cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the green ring block completely off the table surface, transporting the block upward and leftward to the position directly above the empty white peg on the stacked block assembly."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green ring block with the empty white peg, moving the block downward to fit the hole onto the peg."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place: Right hand lowers the green ring block fully onto the supporting white block below to rest stably on the block stack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the green ring block, separating the hand from the placed block."}], "episode_index": 4}
+{"source_uid": "e358c28583112380", "num_frames": 2452, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly rightward and upward with fingers slightly opening to adjust its position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "0d47fcfb-3593-40fe-9399-5260d461a021"}, {"label": "valid", "start_step": 0, "end_step": 2425, "id": "gAqwOtoPgMxZHTRe3ZJMO"}, {"label": "subtasks", "start_step": 38, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 142, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 181, "end_step": 369, "id": "747d7fa4-1d2c-4cc6-875a-2ee0b68a8852"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and moves it toward the wooden board with purple pegs."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 370, "end_step": 465, "id": "11bb1dcf-0c56-4c81-abdd-bf005efcc936"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 466, "end_step": 600, "id": "37454e7a-280a-44be-a3ce-c87c17c53ea9"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully off the table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part rightward and upward to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the target vertical peg by lowering it down and fitting the part's hole onto the peg."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening fingers, separating from the part."}, {"label": "goal", "start_step": 601, "end_step": 699, "id": "a3701c7d-a3e9-42f7-adab-722095704b7f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the lower left of the table, approaching the part without making contact."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 700, "end_step": 837, "id": "00ef8e0c-8c82-43a2-bf15-b60485b8c76c"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the front-left vertical peg on the wooden base, moving downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 838, "end_step": 924, "id": "50c6c25d-38d7-4110-9590-8f9606baefbe"}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 885, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 925, "end_step": 1083, "id": "14bcb9b6-5c06-4c1a-9895-229816cd3466"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1084, "end_step": 1152, "id": "77aa5140-a949-4ada-8621-693e7c9e0826"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the peg group area to approach the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip."}, {"label": "goal", "start_step": 1153, "end_step": 1338, "id": "4820adb2-9d6b-4b59-a31b-4bbe8e186998"}, {"label": "subtasks", "start_step": 1170, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and leftwards towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical peg on the wooden building block base, fingers open and separate from the peg."}, {"label": "goal", "start_step": 1339, "end_step": 1449, "id": "9cdffb17-4190-40cd-96cf-b6be68011aa0"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the dark table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1450, "end_step": 1629, "id": "c017f43a-01f5-4faa-80cb-ffbc9a1bf741"}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal hollow piece on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod and the wooden base toward the right side."}, {"label": "goal", "start_step": 1630, "end_step": 1707, "id": "b46d625b-2230-4fb8-bff6-8dfd7e3ccb4f"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right from the wooden block set towards the upper white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers closing to adjust grip."}, {"label": "goal", "start_step": 1708, "end_step": 1845, "id": "b080efa4-96e1-40da-b640-a37d9f33d524"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1846, "end_step": 1932, "id": "0f6ed7a0-3053-4151-8a70-091734d07821"}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1933, "end_step": 2160, "id": "e27d2feb-e4bf-4984-bb02-48d100f1fe32"}, {"label": "subtasks", "start_step": 1950, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits the block onto the rod, and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the central wooden rack with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches towards the green block on the right lower area of the table."}, {"label": "goal", "start_step": 2161, "end_step": 2229, "id": "bce2c736-3098-45f9-a786-3472e4fdf6c1"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2230, "end_step": 2385, "id": "9c0e94fe-9547-4c71-8937-ddde27470acb"}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the front-right test tube with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the front-right test tube with a purple top, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the front-right test tube, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2426, "end_step": 2451, "id": "SII74KoiR9n4rhHm6HM7u"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly rightward and upward with fingers slightly opening to adjust its position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 38, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 142, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and moves it toward the wooden board with purple pegs."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully off the table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part rightward and upward to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the target vertical peg by lowering it down and fitting the part's hole onto the peg."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening fingers, separating from the part."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the lower left of the table, approaching the part without making contact."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the front-left vertical peg on the wooden base, moving downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 885, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the peg group area to approach the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and leftwards towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical peg on the wooden building block base, fingers open and separate from the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the dark table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal hollow piece on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod and the wooden base toward the right side."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right from the wooden block set towards the upper white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits the block onto the rod, and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the central wooden rack with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches towards the green block on the right lower area of the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the front-right test tube with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the front-right test tube with a purple top, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the front-right test tube, with fingers opening and separating from the block."}], "episode_index": 5}
+{"source_uid": "da72d47a5590fd0e", "num_frames": 2250, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block in front of the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "db96ce28-e97e-47e7-bbb7-071a70bf05e4"}, {"label": "valid", "start_step": 0, "end_step": 2226, "id": "UAMh0JcaN5CYU5-Yd-nRV"}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black desktop."}, {"label": "goal", "start_step": 205, "end_step": 342, "id": "f5c9f7a6-8b43-4e69-8818-2f729c1b8d70"}, {"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 desktop without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the purple rod to complete insertion preparation."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 343, "end_step": 423, "id": "7f5fb950-d28c-42fc-848e-e34c4fbe8642"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the blocks on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 424, "end_step": 576, "id": "f9a5a4af-732f-4c53-bc4c-f03c0bb74e17"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it down to fit."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white annular block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 577, "end_step": 666, "id": "fa28e807-62f2-41df-b7f0-cb4676fae8fe"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 667, "end_step": 813, "id": "ef624eb3-4736-46ba-b19b-c111f3c64882"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple pillar on the wooden rack."}, {"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 desktop without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple pillar to fix it in position."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple pillar without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white building block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 814, "end_step": 900, "id": "97d1270c-db30-4b10-bb42-6ee308099ae7"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "goal", "start_step": 901, "end_step": 1035, "id": "9ac55e06-c89e-4e7e-8993-72cdfd90ed1c"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop 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": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pressing it down to fit stably."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward to approach the green hexagonal block on the black tabletop, without touching the block yet."}, {"label": "goal", "start_step": 1036, "end_step": 1080, "id": "fe51ae41-3522-4f32-be77-258f6aa76d43"}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the tabletop, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1081, "end_step": 1212, "id": "719a38e8-170f-4e5c-a589-8e62f1124bc1"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green hexagonal block up, making it fully leave the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the green hexagonal block to move toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, and fits the block onto the rod completely."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block completely."}, {"label": "goal", "start_step": 1213, "end_step": 1308, "id": "bc474ae9-1cfc-49b5-9de4-0c1ffd2ac1a1"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1309, "end_step": 1449, "id": "792bfd3e-9334-41f2-9ce8-02c9a4fe5dc9"}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the upper white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 1450, "end_step": 1533, "id": "258cebe8-b487-480b-a04d-9903e79414d1"}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the upper white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 1534, "end_step": 1656, "id": "b04dfb1e-97d9-4594-8c70-da4413ced8ce"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple vertical rod on the wooden tray."}, {"label": "goal", "start_step": 1657, "end_step": 1728, "id": "0e342acd-0778-40b0-b306-df389928ceb7"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1977, "id": "a58cb9e9-5271-4ed3-bfc1-97305209d09c"}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the wooden rack with multiple stacked blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden rack, then releases the block after it is properly placed."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the right side of the table."}, {"label": "goal", "start_step": 1978, "end_step": 2040, "id": "cf991987-2fa4-43dd-9869-40dea20c4828"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand contacts the green cubic object, fingers close to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green ring from the black table surface."}, {"label": "goal", "start_step": 2041, "end_step": 2184, "id": "e9c6207c-6c50-4290-a2d8-43b039e0862f"}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with the purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_place: Right hand aligns the green ring with the purple tip of the white bottle and places it onto the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green ring from its grasp."}, {"label": "home", "start_step": 2227, "end_step": 2249, "id": "RUriIh8sOcV_dNSLoAboZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block in front of the left side of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black desktop."}, {"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 desktop without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the purple rod to complete insertion preparation."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the blocks on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it down to fit."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white annular block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple pillar on the wooden rack."}, {"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 desktop without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple pillar to fix it in position."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple pillar without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white building block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop 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": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pressing it down to fit stably."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward to approach the green hexagonal block on the black tabletop, without touching the block yet."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the tabletop, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green hexagonal block up, making it fully leave the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the green hexagonal block to move toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, and fits the block onto the rod completely."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block completely."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the wooden rack with multiple stacked blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden rack, then releases the block after it is properly placed."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the right side of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand contacts the green cubic object, fingers close to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green ring from the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with the purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_place: Right hand aligns the green ring with the purple tip of the white bottle and places it onto the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green ring from its grasp."}], "episode_index": 6}
+{"source_uid": "25e7254be284dbea", "num_frames": 2298, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with slight wrist rotation and finger extension. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "2741976b-5273-43c0-b7f8-e4fe35276450"}, {"label": "valid", "start_step": 0, "end_step": 2273, "id": "CnQMe9y-Y1yFP5XtqGC-p"}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a grasp on it."}, {"label": "goal", "start_step": 169, "end_step": 360, "id": "12333ce8-afcc-42cf-91c2-cdcd5647c806"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on 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 operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block on the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white block onto the purple post of the wooden base and releases the block."}, {"label": "goal", "start_step": 361, "end_step": 444, "id": "e4e195e8-790c-4c3e-8828-a14429a8c065"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 445, "end_step": 561, "id": "3845bea3-6df1-49be-8705-537c7af91296"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: 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": 488, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden base."}, {"label": "goal", "start_step": 562, "end_step": 633, "id": "0a5effe8-6528-4275-94a4-73d2a9d43d4d"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 634, "end_step": 810, "id": "c6b957bb-d4e6-4f52-a133-27ccbf94d199"}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden stacking base and releases the block."}, {"label": "goal", "start_step": 811, "end_step": 903, "id": "02c78b61-f022-41ed-bdef-3f350ad4f8fb"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 904, "end_step": 1053, "id": "1733999a-2b56-464f-bff8-cf947c48a3af"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1054, "end_step": 1122, "id": "a3fbe769-fa7b-458b-b7b2-cfa645c68d90"}, {"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 operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1123, "end_step": 1275, "id": "8a83b1bf-79d4-4648-9450-4f3c830463c4"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves away from the wooden base after placing the green block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-right area of the black table."}, {"label": "goal", "start_step": 1276, "end_step": 1344, "id": "9cf7803b-8498-46d4-94ab-301daf11ad05"}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table, adjusting grip to be stable."}, {"label": "goal", "start_step": 1345, "end_step": 1494, "id": "c0b96e31-4434-4b0c-9311-1f4223facb71"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the short purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the short purple peg on the wooden base, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black table surface."}, {"label": "goal", "start_step": 1495, "end_step": 1590, "id": "71448131-a84b-4aed-af7d-457048054392"}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1737, "id": "67c3ebc4-8e23-46a0-997d-824c363bd0bb"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylinder placed on the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upwards away from the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1738, "end_step": 1788, "id": "89c1f3aa-717a-4c63-ac63-33150da28b22"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1789, "end_step": 1926, "id": "f7194760-8ed8-46b7-9f9e-0559dfffdbb5"}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod until it is supported by the underlying block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod."}, {"label": "goal", "start_step": 1927, "end_step": 2010, "id": "5c999ba1-8f6a-4321-b85c-761ccb58cd2e"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right area of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2011, "end_step": 2241, "id": "5652a34b-6cac-49a0-8bf9-5de5434b8f28"}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the wooden tray with white blocks."}, {"label": "subtasks", "start_step": 2085, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green ring onto the white block with the purple top on the wooden tray, adjusting its position to fit."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green ring after placing it onto the target block."}, {"label": "home", "start_step": 2274, "end_step": 2297, "id": "V0w-NJPDOF9R6bKyOowXU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with slight wrist rotation and finger extension. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a grasp on it."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on 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 operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block on the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white block onto the purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: 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": 488, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden stacking base and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves away from the wooden base after placing the green block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-right area of the black table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table, adjusting grip to be stable."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the short purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the short purple peg on the wooden base, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylinder placed on the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upwards away from the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod until it is supported by the underlying block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right area of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the wooden tray with white blocks."}, {"label": "subtasks", "start_step": 2085, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green ring onto the white block with the purple top on the wooden tray, adjusting its position to fit."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green ring after placing it onto the target block."}], "episode_index": 7}
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fdc7092ad2e3e28755e598568dbc3d3442824689
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,8 @@
+{"episode_index": 0, "tasks": ["Task: TicTacToe"], "length": 2891}
+{"episode_index": 1, "tasks": ["Task: TicTacToe"], "length": 2956}
+{"episode_index": 2, "tasks": ["Task: TicTacToe"], "length": 2833}
+{"episode_index": 3, "tasks": ["Task: TicTacToe"], "length": 2658}
+{"episode_index": 4, "tasks": ["Task: TicTacToe"], "length": 2679}
+{"episode_index": 5, "tasks": ["Task: TicTacToe"], "length": 2452}
+{"episode_index": 6, "tasks": ["Task: TicTacToe"], "length": 2250}
+{"episode_index": 7, "tasks": ["Task: TicTacToe"], "length": 2298}
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0461afe8462791e497bcf5dddcb828720b9e160e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,8 @@
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diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..70cf6669f89c3ccc1d14e6143d8521f49cf5484e
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "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_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
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+                "left_hand_j7",
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+                "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",
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+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
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+                "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_07_01_13_41_34_train/lerobot_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_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_07_01_13_41_34_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6678fc3ec6480cb8af36bbd882399d4a98a5b46c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,458 @@
+{"subtask_index": 0, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green block at the bottom of the leftmost peg on the wooden base, with fingers slightly adjusting posture during movement."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block at the bottom of the leftmost peg, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block at the bottom of the leftmost peg without moving."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, with fingers slightly adjusting to stabilize the grip."}
+{"subtask_index": 4, "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 vertically up from the black table until it is fully off the supporting surface."}
+{"subtask_index": 5, "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 leftward and upward to the position above the leftmost purple peg of the pegboard."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg by lowering it and fitting it into the assembly position."}
+{"subtask_index": 7, "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 leftmost purple peg without moving."}
+{"subtask_index": 8, "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 block onto the left peg of the wooden base and releases the green block."}
+{"subtask_index": 9, "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": 10, "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": 11, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the leftmost peg of the pegboard."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost peg of the pegboard, fitting it down onto the peg."}
+{"subtask_index": 13, "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 leftmost peg of the pegboard without moving."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the leftmost purple peg and releases its grip."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the table."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the table with fingers closing around it."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden peg rack."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the left-front peg of the wooden rack, aligning the part's hole with the peg and lowering it down."}
+{"subtask_index": 19, "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 left-front peg of the wooden rack without moving."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple rod, adjusting the block to fit securely on the rod."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple rod, with fingers opening to separate from the block."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface in front of the pegboard."}
+{"subtask_index": 23, "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 its fingers to form a stable grip on the block."}
+{"subtask_index": 24, "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 surface without moving."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, adjusting fingers to stabilize the grip."}
+{"subtask_index": 26, "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 purple peg on the wooden base."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg and lowers it onto the peg to complete nesting assembly."}
+{"subtask_index": 28, "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 purple peg without moving."}
+{"subtask_index": 29, "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 pegboard with white and purple pegs toward the green hexagonal block on the table, with fingers slightly open."}
+{"subtask_index": 30, "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 around the block to establish a grip."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by lowering it onto the peg."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}
+{"subtask_index": 35, "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 above the green block on the wooden base."}
+{"subtask_index": 36, "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": 37, "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": 38, "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 and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 39, "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 onto the purple peg by aligning the hole and lowering it down."}
+{"subtask_index": 40, "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 purple peg without moving."}
+{"subtask_index": 41, "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 the green block of the stack, with fingers opening slightly."}
+{"subtask_index": 42, "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 cylinder on the table surface."}
+{"subtask_index": 43, "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 cylinder on the table surface, with fingers closing around the object."}
+{"subtask_index": 44, "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 cylinder on the table surface without moving."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table near the right side of the wooden peg base, with fingers closing to form a stable grip."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg by lowering it to align the piece's hole with the peg and fit them together."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 49, "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, not yet touching the block."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 51, "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 cylinder off the dark work surface and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 52, "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 cylinder with the purple peg on the wooden base and lowers it to fit onto the peg."}
+{"subtask_index": 53, "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 cylinder fitted on the purple peg of the wooden base without moving."}
+{"subtask_index": 54, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple peg, fingers opening to separate from the cylinder."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the purple peg on the wooden base."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block with purple top on the wooden rack, fingers open gradually."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}
+{"subtask_index": 58, "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, fingers adjust to form a stable grip."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the rightmost white pillar on the block tower."}
+{"subtask_index": 60, "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 ring onto the top of the rightmost white pillar and releases the object."}
+{"subtask_index": 61, "subtask": "Task: TicTacToe"}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: other:adjust_hand_posture: Right hand rotates its wrist and adjusts finger posture upward."}
+{"subtask_index": 63, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: idle: Right hand stays empty in the air at the right side without moving."}
+{"subtask_index": 64, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block located below the wooden base on the black table."}
+{"subtask_index": 65, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block below the wooden base."}
+{"subtask_index": 66, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the purple rod on the wooden base."}
+{"subtask_index": 68, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 69, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it stably."}
+{"subtask_index": 70, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand retreats away from the wooden base assembly area."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}
+{"subtask_index": 74, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand releases the white hexagonal block and moves away from the wooden base."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white block it holds on the purple rod of the wooden base."}
+{"subtask_index": 78, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 79, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 81, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}
+{"subtask_index": 83, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downwards from the assembly plate towards the white hexagonal block on the table."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers adjust to form a stable grip."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit tightly."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the green block on the table without touching the block."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the green block on the table and adjusts fingers to form a stable grip."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green cube upwards until it is completely off the table surface."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green cube towards the white peg on the wooden base until it is above the peg."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the green cube with the white peg by aligning the hole of the cube with the peg and pushing it down onto the peg."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green cube, separating its fingers from the cube."}
+{"subtask_index": 95, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers continuously to form a stable grasp on the white hexagonal block on the black table surface."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts the block down onto the rod to complete assembly."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly upwards away from the block."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table next to the wooden base."}
+{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table next to the wooden base."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, adjusts its position to be stable, then releases the block by opening fingers."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the white hexagonal block, fingers close to establish a stable grasp."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical object which is now placed on the purple rod."}
+{"subtask_index": 111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves towards the green block on the lower right area of the table."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the purple-tipped white post on the wooden tray."}
+{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the green block with the purple-tipped white post and lowers it to fit onto the post."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the post."}
+{"subtask_index": 116, "subtask": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its wrist and finger positions from the initial upward-extended pose to a neutral resting posture, remaining empty without contacting any objects on the table. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting its finger and wrist positions to form a stable grasp around the object."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely raised off the black table surface."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block backward through the air toward the purple peg mounted on the wooden peg base."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block slightly to insert the peg into the hole."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg, lowering the block until it rests stably on the surface of the wooden peg base."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the wooden block assembly toward the white hexagonal nut on the black table surface, not yet touching the target nut."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making minor finger and wrist adjustments to establish a stable grip on the nut."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut on the table steadily without any observable movement of the hand, fingers or the nut."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the white hexagonal nut on the table surface, lifts it upward until the nut is fully separated from the table."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it to the position directly above the purple vertical peg on the wooden assembly rack."}
+{"subtask_index": 128, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, moves the nut downward to fit onto the peg, and makes small adjustments to secure the fit."}
+{"subtask_index": 129, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: press: Right hand presses the white cylindrical block on the wooden assembly board vertically downward to seat it on the underlying green block."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the assembly board toward the front-left white hexagonal nut on the table, with fingers slightly spread."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting contact to form a stable grasp."}
+{"subtask_index": 132, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple vertical rod on the wooden assembly stand."}
+{"subtask_index": 133, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple vertical rod and fits the block onto the rod to establish the assembled state."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal block resting on the table surface, with no contact to the block yet."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grip while the block stays on the table surface."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_mate: Right hand lifts the grasped white hexagonal block off the table surface, moves it toward the purple vertical rod on the wooden base, and aligns the block's central hole with the rod to start the assembly process."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the table near the wooden assembly base."}
+{"subtask_index": 138, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the dark table surface."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to position it directly above the purple vertical rod on the wooden assembly base."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, fitting the nut onto the top of the rod to establish assembly alignment."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until the nut seats firmly on the stacked white nut below, supported by the rod and underlying nut."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without observable movement."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking physical contact with the nut."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: retreat: Right hand moves empty downward and away from the wooden assembly base after releasing the nut."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves toward the green hexagonal block on the dark table surface with fingers slightly extended."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts finger positions to form a stable grasp on the green hexagonal block, which remains resting on the table surface."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple vertical post on the wooden assembly stand."}
+{"subtask_index": 148, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit securely onto the post."}
+{"subtask_index": 149, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple post without noticeable movement of the hand or block."}
+{"subtask_index": 150, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 151, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand presses fingers against the white hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}
+{"subtask_index": 152, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface and moves it upward and backward toward the wooden block assembly."}
+{"subtask_index": 153, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly and fits the nut onto the rod."}
+{"subtask_index": 154, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden block assembly without observable movement."}
+{"subtask_index": 155, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, separating from the block."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block on the table next to the wooden base."}
+{"subtask_index": 157, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}
+{"subtask_index": 158, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the black table surface near the wooden block stand."}
+{"subtask_index": 159, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then transports it to the position directly above the empty slot next to the purple rod on the wooden stand."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to place it onto the empty slot on the wooden stand, with the block fully supported by the stand at the end of the segment."}
+{"subtask_index": 161, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the placed white hexagonal block on the wooden stand steadily, with no observable movement of the hand, fingers or the block."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block, separating the hand from the block which stays on the wooden stand."}
+{"subtask_index": 163, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: idle: Right hand stays near the stacked blocks on the wooden base without moving, with its index finger lightly touching the purple rod on the base."}
+{"subtask_index": 164, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface."}
+{"subtask_index": 165, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the white hexagonal nut."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the table surface and moves it upward toward the purple rod on the wooden block stand."}
+{"subtask_index": 167, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the vertical purple rod on the stand, adjusting position to fit the block onto the rod."}
+{"subtask_index": 168, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white cylindrical block along the purple rod until the block rests stably on the white base of the stand."}
+{"subtask_index": 169, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty from the white bottle on the wooden rack downward toward the green square block on the right black table surface, with fingers extended as it approaches the target block."}
+{"subtask_index": 170, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the top and side of the green square block, fingers close around the block and adjust contact points to establish a stable grip on the block resting on the table."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green square block on the table surface without obvious visible movement of the hand or the block."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the green ring-shaped block and lifts it upward until the block fully separates from the dark table surface."}
+{"subtask_index": 173, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green ring-shaped block through the air toward the white cylinder with a purple cap on the light wooden tray."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the green ring-shaped block with the white cylinder with a purple cap and lowers the block to fit snugly onto the cylinder."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release_retreat: Right hand opens fingers to release the fitted green ring-shaped block and moves backward away from the light wooden tray."}
+{"subtask_index": 176, "subtask": "Left hand: other:move_upward: Left hand moves upward at the left side of the table with fingers slightly spread. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white top of the leftmost column on the wooden base."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the grasped white top of the leftmost column downward along the column axis."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty at the upper left 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": 181, "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 table and transports it to the position above the purple peg on the wooden rack."}
+{"subtask_index": 182, "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 presses it down to fit onto the peg."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 184, "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, with fingers opening and separating from the block."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green ring downward along the purple peg on the wooden base."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_reach: Right hand releases the green ring on the purple peg and reaches toward the white hexagonal block on the dark table."}
+{"subtask_index": 187, "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 dark table with fingers closing around it."}
+{"subtask_index": 188, "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 dark table without moving."}
+{"subtask_index": 189, "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 black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 190, "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 black table and transports it to the top of the purple peg on the wooden base."}
+{"subtask_index": 191, "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 peg and inserts it down onto the peg to complete assembly."}
+{"subtask_index": 192, "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 peg without moving."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal piece onto the purple vertical peg on the wooden base and releases its grip."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the front white hexagonal piece on the black table surface."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the front white hexagonal piece on the black table surface with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 196, "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 piece off the table and transports it toward the peg board with green and purple pegs."}
+{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost green peg on the board and fits it onto the peg."}
+{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost green peg of the board without moving."}
+{"subtask_index": 199, "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 on the right purple peg of the wooden base, with fingers opening."}
+{"subtask_index": 200, "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 in front of the wooden base."}
+{"subtask_index": 201, "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, with fingers adjusting to form a stable grip."}
+{"subtask_index": 202, "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 piece off the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod, lowering it onto the rod until it is fitted in place."}
+{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening to separate from the piece."}
+{"subtask_index": 205, "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."}
+{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting the grip."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}
+{"subtask_index": 209, "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 from the table and transports it to above the purple rod on the wooden base."}
+{"subtask_index": 210, "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 hexagonal block with the purple rod and inserts the rod into the block to complete initial assembly."}
+{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}
+{"subtask_index": 212, "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 by opening its fingers."}
+{"subtask_index": 213, "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 peg of the wooden rack with fingers adjusting the block position."}
+{"subtask_index": 214, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 215, "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 with fingers closing and adjusting to fit the block shape."}
+{"subtask_index": 216, "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 to the position above the purple rod on the wooden base."}
+{"subtask_index": 217, "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 rod by aligning the block's hole with the rod and lowering the block onto the rod."}
+{"subtask_index": 218, "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 by opening its fingers to separate from the block."}
+{"subtask_index": 219, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves down-right towards the upper white cylindrical block on the right side of the table."}
+{"subtask_index": 220, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical block on the right side of the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}
+{"subtask_index": 221, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the table surface."}
+{"subtask_index": 222, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand holds the white cylindrical object and moves it leftward and upward to the position above the purple rod."}
+{"subtask_index": 223, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod, adjusting position continuously during the assembly process."}
+{"subtask_index": 224, "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 on the wooden tray, with fingers opening and separating from the block."}
+{"subtask_index": 225, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward and rightward from the wooden tray area to approach the white hollow cylinder on the table."}
+{"subtask_index": 226, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the white hollow cylinder on the table and adjusts its fingers to form a stable grasp."}
+{"subtask_index": 227, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward toward the purple rod on the wooden tray."}
+{"subtask_index": 228, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden tray and fits it onto the rod."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the white hollow cylinder on the purple rod and retreats slightly upward."}
+{"subtask_index": 230, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_release: Right hand lifts and releases the front-right white cylinder on the wooden rack."}
+{"subtask_index": 231, "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 cubic block on the dark table surface."}
+{"subtask_index": 232, "subtask": "Left hand: idle: Left hand remains empty at the upper left area 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": 233, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}
+{"subtask_index": 234, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the green block toward the target peg on the wooden rack."}
+{"subtask_index": 235, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg to complete assembly."}
+{"subtask_index": 236, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}
+{"subtask_index": 237, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand retreats away from the assembled green block while empty."}
+{"subtask_index": 238, "subtask": "Left hand: other:adjust_posture: Left hand rotates the wrist slightly and moves upward, adjusting fingers to a steady open posture. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}
+{"subtask_index": 239, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}
+{"subtask_index": 240, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and left toward the green hexagonal block in front of the wooden peg base, keeping fingers slightly open."}
+{"subtask_index": 241, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to form a stable grip."}
+{"subtask_index": 242, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand or block."}
+{"subtask_index": 243, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal nut resting on the table near the wooden assembly base to form a stable grip, with the nut remaining on the table surface."}
+{"subtask_index": 244, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to position directly over the target purple vertical peg on the wooden assembly base."}
+{"subtask_index": 245, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small wrist and finger adjustments to properly seat the nut in the assembly position."}
+{"subtask_index": 246, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the seated green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}
+{"subtask_index": 247, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg to rest on the wooden assembly board, opening fingers to release the block."}
+{"subtask_index": 248, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves toward the white hexagonal block on the table, closing fingers around the block and adjusting grip to secure the hold."}
+{"subtask_index": 249, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the table without movement."}
+{"subtask_index": 250, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}
+{"subtask_index": 251, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}
+{"subtask_index": 252, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and moves it downward to fit the nut onto the post until it is stably supported by the wooden base."}
+{"subtask_index": 253, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}
+{"subtask_index": 254, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut on the table surface, with fingers slightly open and extended."}
+{"subtask_index": 255, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to establish a grip on the nut."}
+{"subtask_index": 256, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}
+{"subtask_index": 257, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the grasped white hexagonal nut through the air toward the purple peg on the wooden peg board."}
+{"subtask_index": 258, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and slides the nut onto the peg to complete the mating action."}
+{"subtask_index": 259, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg to fully seat it on the wooden pegboard, opening fingers to release the block as the press completes."}
+{"subtask_index": 260, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table surface in front of the pegboard."}
+{"subtask_index": 261, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grasp on the nut."}
+{"subtask_index": 262, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the black table surface."}
+{"subtask_index": 263, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal block horizontally to a position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 264, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, lowers the block to fit onto the peg, opens its fingers to release the block onto the peg."}
+{"subtask_index": 265, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and toward the green hexagonal block placed on the black table adjacent to the wooden pegboard."}
+{"subtask_index": 266, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table to form a grip."}
+{"subtask_index": 267, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}
+{"subtask_index": 268, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut along the rod to its seated position, and opens fingers to release the secured nut."}
+{"subtask_index": 269, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand holds the green cylindrical block, aligns its hole with the purple vertical rod on the wooden base and fits the block onto the rod to complete the assembly."}
+{"subtask_index": 270, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward empty-handed toward the front white hexagonal nut placed on the black table surface."}
+{"subtask_index": 271, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut, adjusting finger contact positions to form a stable grip."}
+{"subtask_index": 272, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the front white hexagonal nut on the black table surface without any observable movement or grip adjustment."}
+{"subtask_index": 273, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal cylinder resting on the black table surface, forming a stable grip."}
+{"subtask_index": 274, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and toward the purple rod on the wooden block rack."}
+{"subtask_index": 275, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white hexagonal cylinder toward the purple rod, misaligns the part, opens fingers to release the cylinder which falls onto the table below."}
+{"subtask_index": 276, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward with empty fingers to approach the fallen white hexagonal cylinder on the table surface."}
+{"subtask_index": 277, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal cylinder, making small adjustments to establish a stable grip on the part."}
+{"subtask_index": 278, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward back to the position above the purple rod on the wooden rack."}
+{"subtask_index": 279, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, lowering the part to fit it onto the rod."}
+{"subtask_index": 280, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on the wooden stacking base, opening fingers to break contact with the block."}
+{"subtask_index": 281, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut resting on the table adjacent to the wooden base, keeping fingers open during movement."}
+{"subtask_index": 282, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut which remains on the table surface."}
+{"subtask_index": 283, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}
+{"subtask_index": 284, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand carries the white hexagonal block toward the empty position on the wooden assembly rack."}
+{"subtask_index": 285, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty peg on the wooden rack and fits the block onto the peg."}
+{"subtask_index": 286, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface."}
+{"subtask_index": 287, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}
+{"subtask_index": 288, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand holds the white cylindrical block with green base, lifts it off the dark table surface, and transports it upward and leftward to the position directly above the empty slot on the wooden block tray."}
+{"subtask_index": 289, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block with green base downward into the empty slot on the wooden block tray until the block is supported by the tray, opening fingers to release grip on the block."}
+{"subtask_index": 290, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and rightward away from the wooden block tray."}
+{"subtask_index": 291, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green cube on the table, with fingers extended and no contact made with the cube."}
+{"subtask_index": 292, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the green cube, closing fingers and adjusting contact positions to form a grip on the cube."}
+{"subtask_index": 293, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the green ring block completely off the table surface, transporting the block upward and leftward to the position directly above the empty white peg on the stacked block assembly."}
+{"subtask_index": 294, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green ring block with the empty white peg, moving the block downward to fit the hole onto the peg."}
+{"subtask_index": 295, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place: Right hand lowers the green ring block fully onto the supporting white block below to rest stably on the block stack."}
+{"subtask_index": 296, "subtask": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the green ring block, separating the hand from the placed block."}
+{"subtask_index": 297, "subtask": "Left hand: other:adjust_position: Left hand moves slightly rightward and upward with fingers slightly opening to adjust its position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}
+{"subtask_index": 299, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}
+{"subtask_index": 300, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and moves it toward the wooden board with purple pegs."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left purple peg of the wooden board."}
+{"subtask_index": 302, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to secure it in place."}
+{"subtask_index": 303, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left purple peg without moving."}
+{"subtask_index": 304, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 305, "subtask": "Left hand: idle: Left hand remains empty at the left upper 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": 306, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}
+{"subtask_index": 307, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully off the table surface."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part rightward and upward to the position above the target peg on the wooden pegboard."}
+{"subtask_index": 311, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the target vertical peg by lowering it down and fitting the part's hole onto the peg."}
+{"subtask_index": 312, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening fingers, separating from the part."}
+{"subtask_index": 313, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the lower left of the table, approaching the part without making contact."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 315, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}
+{"subtask_index": 316, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 317, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the wooden peg base."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the front-left vertical peg on the wooden base, moving downward to fit the nut onto the peg."}
+{"subtask_index": 319, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand remains empty at the left upper 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": 321, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 322, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and lowering the block."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and separating from the block."}
+{"subtask_index": 324, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the peg group area to approach the green hexagonal block on the table."}
+{"subtask_index": 325, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and leftwards towards the purple peg on the wooden base."}
+{"subtask_index": 327, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}
+{"subtask_index": 328, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical peg on the wooden building block base, fingers open and separate from the peg."}
+{"subtask_index": 330, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}
+{"subtask_index": 331, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, fingers close and adjust to form a stable grip."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the dark table surface, with fingers closing to adjust the grip."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow piece off the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the purple rod and fits it down onto the rod."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal hollow piece on the purple rod, with fingers opening to separate from the object."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod and the wooden base toward the right side."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right from the wooden block set towards the upper white hexagonal piece on the table."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table with fingers closing around it."}
+{"subtask_index": 340, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table without moving."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers closing to adjust grip."}
+{"subtask_index": 342, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical rod on the wooden base."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning and lowering it onto the rod."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the purple rod on the central wooden rack."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits the block onto the rod, and releases the block by opening its fingers."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the central wooden rack with empty hand."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches towards the green block on the right lower area of the table."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the front-right test tube with a purple top on the wooden rack."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the front-right test tube with a purple top, aligning and inserting it downwards."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the front-right test tube, with fingers opening and separating from the block."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block in front of the left side of the wooden base."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black desktop."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the purple rod to complete insertion preparation."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod to secure it in position."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}
+{"subtask_index": 361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the blocks on the black table surface."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the target purple rod on the wooden base."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it down to fit."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white annular block onto the purple peg of the wooden base and releases the block."}
+{"subtask_index": 367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple pillar on the wooden rack."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple pillar and inserts it onto the pillar."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple pillar to fix it in position."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple pillar without moving."}
+{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white building block onto the purple peg of the wooden base."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop 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": 378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pressing it down to fit stably."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}
+{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward to approach the green hexagonal block on the black tabletop, without touching the block yet."}
+{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the tabletop, adjusting the grip to stabilize the block."}
+{"subtask_index": 383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green hexagonal block up, making it fully leave the black tabletop."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the green hexagonal block to move toward the purple rod on the wooden base."}
+{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, and fits the block onto the rod completely."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block completely."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}
+{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden peg base."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the green peg on the wooden base."}
+{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves slightly away from the peg."}
+{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the upper white cylindrical block on the right side of the table."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the upper white cylindrical block on the right side of the table."}
+{"subtask_index": 394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden tray with stacked cylinders."}
+{"subtask_index": 395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple vertical rod on the wooden tray."}
+{"subtask_index": 396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple vertical rod on the wooden tray."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}
+{"subtask_index": 398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}
+{"subtask_index": 399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the wooden rack with multiple stacked blocks."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden rack, then releases the block after it is properly placed."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the right side of the table."}
+{"subtask_index": 402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the right side of the table."}
+{"subtask_index": 403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand contacts the green cubic object, fingers close to form a stable grasp on the object."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green ring from the black table surface."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with the purple tip on the wooden rack."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_place: Right hand aligns the green ring with the purple tip of the white bottle and places it onto the bottle."}
+{"subtask_index": 407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green ring from its grasp."}
+{"subtask_index": 408, "subtask": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with slight wrist rotation and finger extension. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a grasp on it."}
+{"subtask_index": 411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the top of the rod."}
+{"subtask_index": 413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}
+{"subtask_index": 414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block on the rod."}
+{"subtask_index": 415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white block onto the purple post of the wooden base and releases the block."}
+{"subtask_index": 416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}
+{"subtask_index": 417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden base."}
+{"subtask_index": 420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}
+{"subtask_index": 421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it onto the rod."}
+{"subtask_index": 424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden stacking base and releases the block."}
+{"subtask_index": 425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}
+{"subtask_index": 429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downwards."}
+{"subtask_index": 430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}
+{"subtask_index": 431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}
+{"subtask_index": 432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the empty purple peg on the wooden base."}
+{"subtask_index": 434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and fits it onto the peg."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves away from the wooden base after placing the green block."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-right area of the black table."}
+{"subtask_index": 437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table, adjusting grip to be stable."}
+{"subtask_index": 438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}
+{"subtask_index": 439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the short purple peg on the wooden base."}
+{"subtask_index": 440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the short purple peg on the wooden base, lowering it until the block is supported by the peg."}
+{"subtask_index": 441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}
+{"subtask_index": 442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black table surface."}
+{"subtask_index": 443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block, adjusting fingers to form a stable grip."}
+{"subtask_index": 444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}
+{"subtask_index": 446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylinder placed on the purple rod."}
+{"subtask_index": 447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upwards away from the purple rod."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black table surface."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple rod on the wooden base."}
+{"subtask_index": 451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod until it is supported by the underlying block."}
+{"subtask_index": 452, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod."}
+{"subtask_index": 453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right area of the table."}
+{"subtask_index": 454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}
+{"subtask_index": 455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the wooden tray with white blocks."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green ring onto the white block with the purple top on the wooden tray, adjusting its position to fit."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green ring after placing it onto the target block."}
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/tasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/tasks.jsonl
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@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: TicTacToe"}
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/v40_validation.json b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v2.1/meta/v40_validation.json
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@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 8,
+  "frames": 21017,
+  "video_frames": {
+    "observation.images.head_left": 21017,
+    "observation.images.wrist_left": 21017,
+    "observation.images.wrist_right": 21017,
+    "observation.images.head_right": 21017,
+    "observation.images.tactile_deform": 21017,
+    "observation.images.tactile_raw": 21017
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 8
+}
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without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the left-front peg of the wooden rack, aligning the part's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the left-front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple rod, adjusting the block to fit securely on the rod."}, {"label": "goal", "start_step": 1161, "end_step": 1331, "id": "1a922dc6-92e6-4fdf-9bf5-ea78f7a2ea9f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 1332, "end_step": 1487, "id": "6894f3b1-7181-4365-8db9-0b08fc046ce5"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1431, "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 hexagonal part with the purple peg and lowers it onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "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 pegboard with white and purple pegs toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1488, "end_step": 1589, "id": "d56ecda8-949a-4acd-962e-446c46bf05d1"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1590, "end_step": 1766, "id": "dbaefea4-e154-48c0-b7c4-d4ed4a916f0f"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg above the green block on the wooden base."}, {"label": "goal", "start_step": 1767, "end_step": 1895, "id": "85003d2f-63fe-4463-919b-ed44d0ca5e29"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1896, "end_step": 2048, "id": "2515db3d-3e12-4cf5-9ecd-d37b9b7638e7"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg by aligning the hole and lowering it down."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the green block of the stack, with fingers opening slightly."}, {"label": "goal", "start_step": 2049, "end_step": 2168, "id": "f840454d-b1ae-41d5-885d-f7b0ab8a3319"}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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 and rightward to approach the white cylinder on the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylinder on the table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder on the table surface without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table near the right side of the wooden peg base, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2169, "end_step": 2285, "id": "62aaae8d-30ac-4987-b928-66ff173b3dda"}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "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 cylindrical piece off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "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 piece with the purple peg by lowering it to align the piece's hole with the peg and fit them together."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "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 of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2286, "end_step": 2376, "id": "8c5f11fa-2480-4fe0-be00-74c59f132e66"}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2377, "end_step": 2523, "id": "1ca4cb4c-f754-4257-a38e-bf2bc9aea13d"}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "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 cylinder off the dark work surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "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 cylinder with the purple peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder fitted on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple peg, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the purple peg on the wooden base."}, {"label": "goal", "start_step": 2524, "end_step": 2619, "id": "0cbf8895-1ff0-4bfa-8490-dfbd72d6e7e4"}, {"label": "subtasks", "start_step": 2535, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block with purple top on the wooden rack, fingers open gradually."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 2620, "end_step": 2823, "id": "7b1b6224-6ce5-4838-b3e6-58b801655b35"}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the rightmost white pillar on the block tower."}, {"label": "subtasks", "start_step": 2685, "end_step": 2834, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green ring onto the top of the rightmost white pillar and releases the object."}, {"label": "home", "start_step": 2859, "end_step": 2890, "id": "42ekcqMrl3ubmBdoBfGhU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green block at the bottom of the leftmost peg on the wooden base, with fingers slightly adjusting posture during movement."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "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 block at the bottom of the leftmost peg, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "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 at the bottom of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "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 black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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 vertically up from the black table until it is fully off the supporting surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 285, "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: mate: Right hand mates the green cubic block onto the leftmost purple peg by lowering it and fitting it into the assembly position."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "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 on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the left peg of the wooden base and releases the green block."}, {"label": "subtasks", "start_step": 458, "end_step": 517, "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 surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "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 object off the table and transports it toward the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost peg of the pegboard, fitting it down onto the peg."}, {"label": "subtasks", "start_step": 630, "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: hold: Right hand holds the white hexagonal object on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 922, "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: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "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 onto the left-front peg of the wooden rack, aligning the part's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the left-front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple rod, adjusting the block to fit securely on the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1431, "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 hexagonal part with the purple peg and lowers it onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "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 pegboard with white and purple pegs toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg by aligning the hole and lowering it down."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the green block of the stack, with fingers opening slightly."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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 and rightward to approach the white cylinder on the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylinder on the table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder on the table surface without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table near the right side of the wooden peg base, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "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 cylindrical piece off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "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 piece with the purple peg by lowering it to align the piece's hole with the peg and fit them together."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "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 of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "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 cylinder off the dark work surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "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 cylinder with the purple peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder fitted on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple peg, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block with purple top on the wooden rack, fingers open gradually."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the rightmost white pillar on the block tower."}, {"label": "subtasks", "start_step": 2685, "end_step": 2834, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green ring onto the top of the rightmost white pillar and releases the object."}], "episode_index": 0}
+{"source_uid": "8549a65ab3082ade", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: other:adjust_hand_posture: Right hand rotates its wrist and adjusts finger posture upward."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "7f492df6-5bab-4867-b7b9-69283db7562c"}, {"label": "valid", "start_step": 0, "end_step": 2926, "id": "0j4vG4x8Rl4aNdKQzBik1"}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: idle: Right hand stays empty in the air at the right side without moving."}, {"label": "subtasks", "start_step": 112, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block located below the wooden base on the black table."}, {"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 home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block below the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 271, "end_step": 423, "id": "11fa7a4c-df12-4ad7-8f7f-71cc522457ba"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it stably."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand retreats away from the wooden base assembly area."}, {"label": "goal", "start_step": 424, "end_step": 537, "id": "7cf38b54-88f7-4231-972d-364080d1e521"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "goal", "start_step": 538, "end_step": 729, "id": "fcc427d7-5399-4bc8-999f-358935fad205"}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand releases the white hexagonal block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white block it holds on the purple rod of the wooden base."}, {"label": "goal", "start_step": 730, "end_step": 810, "id": "90989c0c-138a-4309-a26f-de19b624068f"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 811, "end_step": 972, "id": "24387661-3518-4cdb-b4b8-688e543bd8d1"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 870, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downwards from the assembly plate towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 973, "end_step": 1071, "id": "c2132c81-a9a5-4bf5-bf0b-d605fdd0cb65"}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1072, "end_step": 1329, "id": "bbecc070-a51b-4569-88e8-10cade67128f"}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit tightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the green block on the table without touching the block."}, {"label": "goal", "start_step": 1330, "end_step": 1422, "id": "276fa0d2-e3a9-4664-ac20-c57aabe919fc"}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the green block on the table and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 1423, "end_step": 1593, "id": "543cbec3-a69b-46a7-940c-73af97d1c829"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green cube towards the white peg on the wooden base until it is above the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the green cube with the white peg by aligning the hole of the cube with the peg and pushing it down onto the peg."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1594, "end_step": 1845, "id": "88201837-f867-4333-9fce-8322ad3aa967"}, {"label": "subtasks", "start_step": 1628, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers continuously to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1846, "end_step": 1995, "id": "3fa4c32b-a59c-4596-ae6b-03450a7fdccb"}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts the block down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly upwards away from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 1996, "end_step": 2082, "id": "fe2e789e-b7a2-46f3-b4b0-663eb559d3d9"}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table next to the wooden base."}, {"label": "goal", "start_step": 2083, "end_step": 2337, "id": "d8108037-bd84-4083-9bea-773c37ec1cb8"}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2168, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, adjusts its position to be stable, then releases the block by opening fingers."}, {"label": "subtasks", "start_step": 2325, "end_step": 2377, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2338, "end_step": 2430, "id": "555f87db-da24-44dd-9234-42fc6338eac8"}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the white hexagonal block, fingers close to establish a stable grasp."}, {"label": "goal", "start_step": 2431, "end_step": 2589, "id": "189124c7-9ffb-4469-b71b-8c13fc86a4d5"}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical object which is now placed on the purple rod."}, {"label": "goal", "start_step": 2590, "end_step": 2688, "id": "c19a6bf3-1acf-40ba-8151-e8088eebfc3b"}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves towards the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 2689, "end_step": 2895, "id": "6ce4b6f9-89bb-475f-b569-f41b4293c447"}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the purple-tipped white post on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the green block with the purple-tipped white post and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the post."}, {"label": "home", "start_step": 2927, "end_step": 2955, "id": "3BJt7E9Rm5tO-aPDprY3O"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: other:adjust_hand_posture: Right hand rotates its wrist and adjusts finger posture upward."}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: idle: Right hand stays empty in the air at the right side without moving."}, {"label": "subtasks", "start_step": 112, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block located below the wooden base on the black table."}, {"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 home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block below the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it stably."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand retreats away from the wooden base assembly area."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand releases the white hexagonal block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white block it holds on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 870, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downwards from the assembly plate towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit tightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the green block on the table without touching the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the green block on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green cube towards the white peg on the wooden base until it is above the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the green cube with the white peg by aligning the hole of the cube with the peg and pushing it down onto the peg."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers continuously to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts the block down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly upwards away from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2010, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2168, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, adjusts its position to be stable, then releases the block by opening fingers."}, {"label": "subtasks", "start_step": 2325, "end_step": 2377, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the white hexagonal block, fingers close to establish a stable grasp."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical object which is now placed on the purple rod."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves towards the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the purple-tipped white post on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the green block with the purple-tipped white post and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the post."}], "episode_index": 1}
+{"source_uid": "88e33d73743db0e3", "num_frames": 2833, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its wrist and finger positions from the initial upward-extended pose to a neutral resting posture, remaining empty without contacting any objects on the table. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "c8f0292a-3dea-46ee-ad7c-691cb890897d"}, {"label": "valid", "start_step": 0, "end_step": 2804, "id": "l9ol7BJ5CuI7OTEwqt4a9"}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 142, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting its finger and wrist positions to form a stable grasp around the object."}, {"label": "goal", "start_step": 208, "end_step": 351, "id": "60d80c98-8dc6-4b71-b0f1-486fe74fbbc2"}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block backward through the air toward the purple peg mounted on the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block slightly to insert the peg into the hole."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg, lowering the block until it rests stably on the surface of the wooden peg base."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the wooden block assembly toward the white hexagonal nut on the black table surface, not yet touching the target nut."}, {"label": "goal", "start_step": 352, "end_step": 468, "id": "7742e923-2b20-4e05-8f4b-cf78706a4e7b"}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making minor finger and wrist adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut on the table steadily without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the white hexagonal nut on the table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 469, "end_step": 732, "id": "aa49e1e3-d051-46fa-9ccc-f7c540b964ce"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it to the position directly above the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, moves the nut downward to fit onto the peg, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: press: Right hand presses the white cylindrical block on the wooden assembly board vertically downward to seat it on the underlying green block."}, {"label": "goal", "start_step": 733, "end_step": 822, "id": "44d9fa24-73dc-45df-a4a4-e8f468807dd3"}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the assembly board toward the front-left white hexagonal nut on the table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting contact to form a stable grasp."}, {"label": "goal", "start_step": 823, "end_step": 954, "id": "1aea25c0-9152-4ada-bde6-77d80c206dee"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple vertical rod and fits the block onto the rod to establish the assembled state."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal block resting on the table surface, with no contact to the block yet."}, {"label": "goal", "start_step": 955, "end_step": 1173, "id": "d30d33f8-3fc2-4244-ae28-26c388cf5b07"}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_mate: Right hand lifts the grasped white hexagonal block off the table surface, moves it toward the purple vertical rod on the wooden base, and aligns the block's central hole with the rod to start the assembly process."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the table near the wooden assembly base."}, {"label": "goal", "start_step": 1174, "end_step": 1449, "id": "663b6a7c-f193-46e1-9751-bcc4aa4ec6d7"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to position it directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, fitting the nut onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until the nut seats firmly on the stacked white nut below, supported by the rod and underlying nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: retreat: Right hand moves empty downward and away from the wooden assembly base after releasing the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves toward the green hexagonal block on the dark table surface with fingers slightly extended."}, {"label": "goal", "start_step": 1450, "end_step": 1505, "id": "7dcb3797-b0f7-4fc7-9bb5-7becaa97ac22"}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts finger positions to form a stable grasp on the green hexagonal block, which remains resting on the table surface."}, {"label": "goal", "start_step": 1506, "end_step": 1649, "id": "242c9364-060c-4473-861a-1886e106302c"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple post without noticeable movement of the hand or block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1650, "end_step": 1751, "id": "68cc9a0d-9489-4b15-b1d4-52551fc174b3"}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand presses fingers against the white hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "goal", "start_step": 1752, "end_step": 1895, "id": "57f9a294-c4c8-4033-b518-b574e27b6ace"}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface and moves it upward and backward toward the wooden block assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, separating from the block."}, {"label": "goal", "start_step": 1896, "end_step": 1994, "id": "7d8bfe04-0879-4e75-9bea-918db81b8124"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the black table surface near the wooden block stand."}, {"label": "goal", "start_step": 1995, "end_step": 2225, "id": "76545d8d-36d8-4be6-b0c9-17f00dd02008"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then transports it to the position directly above the empty slot next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to place it onto the empty slot on the wooden stand, with the block fully supported by the stand at the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the placed white hexagonal block on the wooden stand steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block, separating the hand from the block which stays on the wooden stand."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: idle: Right hand stays near the stacked blocks on the wooden base without moving, with its index finger lightly touching the purple rod on the base."}, {"label": "goal", "start_step": 2226, "end_step": 2321, "id": "923c2e72-9eb4-42d2-aa86-40a2aedb3303"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the white hexagonal nut."}, {"label": "goal", "start_step": 2322, "end_step": 2489, "id": "9028bb8b-f580-47dc-94ec-00d10652236b"}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the table surface and moves it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the vertical purple rod on the stand, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white cylindrical block along the purple rod until the block rests stably on the white base of the stand."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty from the white bottle on the wooden rack downward toward the green square block on the right black table surface, with fingers extended as it approaches the target block."}, {"label": "goal", "start_step": 2490, "end_step": 2582, "id": "62350bbf-59d3-42ff-9401-38cde56d3899"}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the top and side of the green square block, fingers close around the block and adjust contact points to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green square block on the table surface without obvious visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the green ring-shaped block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "goal", "start_step": 2583, "end_step": 2762, "id": "79aa2b78-ad82-48d7-bebd-4d49e924e70a"}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green ring-shaped block through the air toward the white cylinder with a purple cap on the light wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the green ring-shaped block with the white cylinder with a purple cap and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release_retreat: Right hand opens fingers to release the fitted green ring-shaped block and moves backward away from the light wooden tray."}, {"label": "home", "start_step": 2805, "end_step": 2832, "id": "zF0uvmV0vyaevMwa_8QcR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its wrist and finger positions from the initial upward-extended pose to a neutral resting posture, remaining empty without contacting any objects on the table. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 142, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting its finger and wrist positions to form a stable grasp around the object."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block backward through the air toward the purple peg mounted on the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block slightly to insert the peg into the hole."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg, lowering the block until it rests stably on the surface of the wooden peg base."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the wooden block assembly toward the white hexagonal nut on the black table surface, not yet touching the target nut."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making minor finger and wrist adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut on the table steadily without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the white hexagonal nut on the table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it to the position directly above the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, moves the nut downward to fit onto the peg, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: press: Right hand presses the white cylindrical block on the wooden assembly board vertically downward to seat it on the underlying green block."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the assembly board toward the front-left white hexagonal nut on the table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple vertical rod and fits the block onto the rod to establish the assembled state."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal block resting on the table surface, with no contact to the block yet."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_mate: Right hand lifts the grasped white hexagonal block off the table surface, moves it toward the purple vertical rod on the wooden base, and aligns the block's central hole with the rod to start the assembly process."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the table near the wooden assembly base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to position it directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, fitting the nut onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until the nut seats firmly on the stacked white nut below, supported by the rod and underlying nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: retreat: Right hand moves empty downward and away from the wooden assembly base after releasing the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves toward the green hexagonal block on the dark table surface with fingers slightly extended."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts finger positions to form a stable grasp on the green hexagonal block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple post without noticeable movement of the hand or block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand presses fingers against the white hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface and moves it upward and backward toward the wooden block assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, separating from the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the black table surface near the wooden block stand."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then transports it to the position directly above the empty slot next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to place it onto the empty slot on the wooden stand, with the block fully supported by the stand at the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the placed white hexagonal block on the wooden stand steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block, separating the hand from the block which stays on the wooden stand."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: idle: Right hand stays near the stacked blocks on the wooden base without moving, with its index finger lightly touching the purple rod on the base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the white hexagonal nut."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the table surface and moves it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the vertical purple rod on the stand, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white cylindrical block along the purple rod until the block rests stably on the white base of the stand."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty from the white bottle on the wooden rack downward toward the green square block on the right black table surface, with fingers extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the top and side of the green square block, fingers close around the block and adjust contact points to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green square block on the table surface without obvious visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the green ring-shaped block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green ring-shaped block through the air toward the white cylinder with a purple cap on the light wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the green ring-shaped block with the white cylinder with a purple cap and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release_retreat: Right hand opens fingers to release the fitted green ring-shaped block and moves backward away from the light wooden tray."}], "episode_index": 2}
+{"source_uid": "e94d40e1546711a8", "num_frames": 2658, "annotation_status": "loaded", "has_annotation": true, "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 at the left side of the table with fingers slightly spread. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "555abfb4-545f-4c23-9f69-5fb4f036930f"}, {"label": "valid", "start_step": 0, "end_step": 2627, "id": "tEWFvrr5995BM066LkSb9"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white top of the leftmost column on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the grasped white top of the leftmost column downward along the column axis."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 187, "end_step": 348, "id": "3f95f850-cc08-406e-a68f-73f50416cf5f"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "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 table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00009", "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, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green ring downward along the purple peg on the wooden base."}, {"label": "goal", "start_step": 349, "end_step": 450, "id": "0d88b6a0-6dfb-4263-8da1-a3ec2b296aa4"}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_reach: Right hand releases the green ring on the purple peg and reaches toward the white hexagonal block on the dark table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "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 dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "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 dark table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "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 black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 451, "end_step": 636, "id": "0392a9ff-7333-41ed-938a-d00066280e65"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "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 black table and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "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 peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 532, "end_step": 629, "id": "reasoning-language-00017", "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 peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal piece onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 637, "end_step": 735, "id": "1fecc632-06e2-474e-a5a2-1adedb00b5b0"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the front white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the front white hexagonal piece on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 736, "end_step": 951, "id": "a04e9da4-80e4-4b8b-b0fe-aabade32e9b4"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "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 piece off the table and transports it toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost green peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost green peg of the board without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "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 on the right purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 952, "end_step": 1059, "id": "228d6663-3dd0-42ef-91df-b96162e006b7"}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00025", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00026", "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1060, "end_step": 1209, "id": "2470d12c-61d5-4f95-9740-8df19e74020d"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "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 piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod, lowering it onto the rod until it is fitted in place."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "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."}, {"label": "goal", "start_step": 1210, "end_step": 1293, "id": "729e15af-6f71-4d33-9263-7f07fef3a772"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1294, "end_step": 1476, "id": "6936ef49-af11-4273-ac2e-e14829955e38"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "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 from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00035", "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 hexagonal block with the purple rod and inserts the rod into the block to complete initial assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00037", "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 by opening its fingers."}, {"label": "goal", "start_step": 1477, "end_step": 1575, "id": "753918f1-2898-452d-8d28-c6c72e4abee0"}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00038", "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 peg of the wooden rack with fingers adjusting the block position."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "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 with fingers closing and adjusting to fit the block shape."}, {"label": "goal", "start_step": 1576, "end_step": 1704, "id": "3e943b55-52a4-444d-aa0d-0363680fe335"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "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 rod by aligning the block's hole with the rod and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "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 by opening its fingers to separate from the block."}, {"label": "goal", "start_step": 1705, "end_step": 1806, "id": "a930387e-377d-4fe8-b8ad-ed9efba176de"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves down-right towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical block on the right side of the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 1807, "end_step": 2076, "id": "e264ef8a-bb27-4807-b6f5-9a2c798a9f37"}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand holds the white cylindrical object and moves it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod, adjusting position continuously during the assembly process."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00049", "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 on the wooden tray, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2077, "end_step": 2142, "id": "d0c9d2d3-ef3a-433f-8a2f-114858524537"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward and rightward from the wooden tray area to approach the white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the white hollow cylinder on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 2143, "end_step": 2268, "id": "213b63cd-ac29-43e5-a761-bec8001e0554"}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the white hollow cylinder on the purple rod and retreats slightly upward."}, {"label": "goal", "start_step": 2269, "end_step": 2367, "id": "4f23c23f-9734-415a-a7fb-4fa65a3ce5e0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_release: Right hand lifts and releases the front-right white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "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 cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 2368, "end_step": 2595, "id": "82f1364f-741b-46f2-8df2-182a9690f3ef"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the green block toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand retreats away from the assembled green block while empty."}, {"label": "home", "start_step": 2628, "end_step": 2657, "id": "UqwvQJnWF7HEnhfDL__xq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward at the left side of the table with fingers slightly spread. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white top of the leftmost column on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the grasped white top of the leftmost column downward along the column axis."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 202, "end_step": 224, "id": "reasoning-language-00006", "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 table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00009", "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, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green ring downward along the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_reach: Right hand releases the green ring on the purple peg and reaches toward the white hexagonal block on the dark table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "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 dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "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 dark table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "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 black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "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 black table and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "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 peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 532, "end_step": 629, "id": "reasoning-language-00017", "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 peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal piece onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the front white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the front white hexagonal piece on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "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 piece off the table and transports it toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost green peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost green peg of the board without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "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 on the right purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00025", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00026", "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "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 piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod, lowering it onto the rod until it is fitted in place."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "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."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "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 from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00035", "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 hexagonal block with the purple rod and inserts the rod into the block to complete initial assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00037", "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 by opening its fingers."}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00038", "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 peg of the wooden rack with fingers adjusting the block position."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "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 with fingers closing and adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "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 rod by aligning the block's hole with the rod and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "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 by opening its fingers to separate from the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves down-right towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical block on the right side of the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand holds the white cylindrical object and moves it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod, adjusting position continuously during the assembly process."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00049", "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 on the wooden tray, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward and rightward from the wooden tray area to approach the white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the white hollow cylinder on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the white hollow cylinder on the purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_release: Right hand lifts and releases the front-right white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "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 cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 2385, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the green block toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand retreats away from the assembled green block while empty."}], "episode_index": 3}
+{"source_uid": "18ceb2af49c65e3a", "num_frames": 2679, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand rotates the wrist slightly and moves upward, adjusting fingers to a steady open posture. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "5c047d96-e585-4a5f-a616-7703ed857df2"}, {"label": "valid", "start_step": 0, "end_step": 2648, "id": "iRxC825gZp0-L46Jsc3Ej"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and left toward the green hexagonal block in front of the wooden peg base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal nut resting on the table near the wooden assembly base to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 181, "end_step": 324, "id": "dcf24032-5bea-4e12-a239-e2cf04c4c7e4"}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to position directly over the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small wrist and finger adjustments to properly seat the nut in the assembly position."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the seated green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg to rest on the wooden assembly board, opening fingers to release the block."}, {"label": "goal", "start_step": 325, "end_step": 426, "id": "8c8eb522-ff31-4ab0-84d0-552f8acc8d14"}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves toward the white hexagonal block on the table, closing fingers around the block and adjusting grip to secure the hold."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the table without movement."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 427, "end_step": 573, "id": "0841e93a-2086-4513-9c23-1675e1384044"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and moves it downward to fit the nut onto the post until it is stably supported by the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut on the table surface, with fingers slightly open and extended."}, {"label": "goal", "start_step": 574, "end_step": 666, "id": "54b09155-8044-45c1-a3e9-6f1deb6683fb"}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to establish a grip on the nut."}, {"label": "goal", "start_step": 667, "end_step": 792, "id": "7a89550c-fd5d-4797-a752-6426fa6ff2ec"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the grasped white hexagonal nut through the air toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and slides the nut onto the peg to complete the mating action."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg to fully seat it on the wooden pegboard, opening fingers to release the block as the press completes."}, {"label": "goal", "start_step": 793, "end_step": 888, "id": "ffc976cc-c2a6-4066-a5a5-4afb4df1fd76"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grasp on the nut."}, {"label": "goal", "start_step": 889, "end_step": 1017, "id": "ba9cead2-e52c-4d4e-94ed-62bf6156ec87"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal block horizontally to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, lowers the block to fit onto the peg, opens its fingers to release the block onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and toward the green hexagonal block placed on the black table adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 1018, "end_step": 1095, "id": "e8ef5f8d-3680-43a5-b375-e925ffb09609"}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table to form a grip."}, {"label": "goal", "start_step": 1096, "end_step": 1271, "id": "1801275d-5905-4e06-b428-61c6127abdcd"}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut along the rod to its seated position, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand holds the green cylindrical block, aligns its hole with the purple vertical rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "goal", "start_step": 1272, "end_step": 1448, "id": "81421ac2-f8f9-45e4-97c2-8c05bba6c0c3"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward empty-handed toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the front white hexagonal nut on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal cylinder resting on the black table surface, forming a stable grip."}, {"label": "goal", "start_step": 1449, "end_step": 1922, "id": "a936680e-cc16-4464-a410-d05e8c5f43d4"}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white hexagonal cylinder toward the purple rod, misaligns the part, opens fingers to release the cylinder which falls onto the table below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward with empty fingers to approach the fallen white hexagonal cylinder on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal cylinder, making small adjustments to establish a stable grip on the part."}, {"label": "subtasks", "start_step": 1710, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward back to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, lowering the part to fit it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on the wooden stacking base, opening fingers to break contact with the block."}, {"label": "goal", "start_step": 1923, "end_step": 2009, "id": "efb6b417-1560-4c9d-a35a-a1002da82612"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut resting on the table adjacent to the wooden base, keeping fingers open during movement."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 2010, "end_step": 2114, "id": "f32c365a-370b-4253-8ddd-5ae0c013a900"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand carries the white hexagonal block toward the empty position on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty peg on the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2204, "id": "9e853d84-7db7-49f3-bbff-4102c83a0121"}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand holds the white cylindrical block with green base, lifts it off the dark table surface, and transports it upward and leftward to the position directly above the empty slot on the wooden block tray."}, {"label": "goal", "start_step": 2205, "end_step": 2366, "id": "520eaff1-7f82-419f-876e-247a7b2c894e"}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block with green base downward into the empty slot on the wooden block tray until the block is supported by the tray, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and rightward away from the wooden block tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green cube on the table, with fingers extended and no contact made with the cube."}, {"label": "goal", "start_step": 2367, "end_step": 2453, "id": "069faf31-8c7a-40ae-aabc-e1cf690c4272"}, {"label": "subtasks", "start_step": 2400, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the green cube, closing fingers and adjusting contact positions to form a grip on the cube."}, {"label": "goal", "start_step": 2454, "end_step": 2615, "id": "846dd521-c108-47a0-88d7-16f1dcaf75bd"}, {"label": "subtasks", "start_step": 2475, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the green ring block completely off the table surface, transporting the block upward and leftward to the position directly above the empty white peg on the stacked block assembly."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green ring block with the empty white peg, moving the block downward to fit the hole onto the peg."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place: Right hand lowers the green ring block fully onto the supporting white block below to rest stably on the block stack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the green ring block, separating the hand from the placed block."}, {"label": "home", "start_step": 2649, "end_step": 2678, "id": "5y9VjguX9MQEQ4G1oXPDc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand rotates the wrist slightly and moves upward, adjusting fingers to a steady open posture. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and left toward the green hexagonal block in front of the wooden peg base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal nut resting on the table near the wooden assembly base to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to position directly over the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small wrist and finger adjustments to properly seat the nut in the assembly position."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the seated green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg to rest on the wooden assembly board, opening fingers to release the block."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves toward the white hexagonal block on the table, closing fingers around the block and adjusting grip to secure the hold."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the table without movement."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and moves it downward to fit the nut onto the post until it is stably supported by the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut on the table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the grasped white hexagonal nut through the air toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and slides the nut onto the peg to complete the mating action."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg to fully seat it on the wooden pegboard, opening fingers to release the block as the press completes."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal block horizontally to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, lowers the block to fit onto the peg, opens its fingers to release the block onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and toward the green hexagonal block placed on the black table adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut along the rod to its seated position, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand holds the green cylindrical block, aligns its hole with the purple vertical rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward empty-handed toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the front white hexagonal nut on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal cylinder resting on the black table surface, forming a stable grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white hexagonal cylinder toward the purple rod, misaligns the part, opens fingers to release the cylinder which falls onto the table below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward with empty fingers to approach the fallen white hexagonal cylinder on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal cylinder, making small adjustments to establish a stable grip on the part."}, {"label": "subtasks", "start_step": 1710, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward back to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, lowering the part to fit it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on the wooden stacking base, opening fingers to break contact with the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut resting on the table adjacent to the wooden base, keeping fingers open during movement."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand carries the white hexagonal block toward the empty position on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty peg on the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand holds the white cylindrical block with green base, lifts it off the dark table surface, and transports it upward and leftward to the position directly above the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block with green base downward into the empty slot on the wooden block tray until the block is supported by the tray, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and rightward away from the wooden block tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green cube on the table, with fingers extended and no contact made with the cube."}, {"label": "subtasks", "start_step": 2400, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the green cube, closing fingers and adjusting contact positions to form a grip on the cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the green ring block completely off the table surface, transporting the block upward and leftward to the position directly above the empty white peg on the stacked block assembly."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green ring block with the empty white peg, moving the block downward to fit the hole onto the peg."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place: Right hand lowers the green ring block fully onto the supporting white block below to rest stably on the block stack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the green ring block, separating the hand from the placed block."}], "episode_index": 4}
+{"source_uid": "e358c28583112380", "num_frames": 2452, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly rightward and upward with fingers slightly opening to adjust its position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "0d47fcfb-3593-40fe-9399-5260d461a021"}, {"label": "valid", "start_step": 0, "end_step": 2425, "id": "gAqwOtoPgMxZHTRe3ZJMO"}, {"label": "subtasks", "start_step": 38, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 142, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 181, "end_step": 369, "id": "747d7fa4-1d2c-4cc6-875a-2ee0b68a8852"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and moves it toward the wooden board with purple pegs."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 370, "end_step": 465, "id": "11bb1dcf-0c56-4c81-abdd-bf005efcc936"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 466, "end_step": 600, "id": "37454e7a-280a-44be-a3ce-c87c17c53ea9"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully off the table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part rightward and upward to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the target vertical peg by lowering it down and fitting the part's hole onto the peg."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening fingers, separating from the part."}, {"label": "goal", "start_step": 601, "end_step": 699, "id": "a3701c7d-a3e9-42f7-adab-722095704b7f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the lower left of the table, approaching the part without making contact."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 700, "end_step": 837, "id": "00ef8e0c-8c82-43a2-bf15-b60485b8c76c"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the front-left vertical peg on the wooden base, moving downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 838, "end_step": 924, "id": "50c6c25d-38d7-4110-9590-8f9606baefbe"}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 885, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 925, "end_step": 1083, "id": "14bcb9b6-5c06-4c1a-9895-229816cd3466"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1084, "end_step": 1152, "id": "77aa5140-a949-4ada-8621-693e7c9e0826"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the peg group area to approach the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip."}, {"label": "goal", "start_step": 1153, "end_step": 1338, "id": "4820adb2-9d6b-4b59-a31b-4bbe8e186998"}, {"label": "subtasks", "start_step": 1170, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and leftwards towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical peg on the wooden building block base, fingers open and separate from the peg."}, {"label": "goal", "start_step": 1339, "end_step": 1449, "id": "9cdffb17-4190-40cd-96cf-b6be68011aa0"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the dark table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1450, "end_step": 1629, "id": "c017f43a-01f5-4faa-80cb-ffbc9a1bf741"}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal hollow piece on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod and the wooden base toward the right side."}, {"label": "goal", "start_step": 1630, "end_step": 1707, "id": "b46d625b-2230-4fb8-bff6-8dfd7e3ccb4f"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right from the wooden block set towards the upper white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers closing to adjust grip."}, {"label": "goal", "start_step": 1708, "end_step": 1845, "id": "b080efa4-96e1-40da-b640-a37d9f33d524"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1846, "end_step": 1932, "id": "0f6ed7a0-3053-4151-8a70-091734d07821"}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1933, "end_step": 2160, "id": "e27d2feb-e4bf-4984-bb02-48d100f1fe32"}, {"label": "subtasks", "start_step": 1950, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits the block onto the rod, and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the central wooden rack with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches towards the green block on the right lower area of the table."}, {"label": "goal", "start_step": 2161, "end_step": 2229, "id": "bce2c736-3098-45f9-a786-3472e4fdf6c1"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2230, "end_step": 2385, "id": "9c0e94fe-9547-4c71-8937-ddde27470acb"}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the front-right test tube with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the front-right test tube with a purple top, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the front-right test tube, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2426, "end_step": 2451, "id": "SII74KoiR9n4rhHm6HM7u"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly rightward and upward with fingers slightly opening to adjust its position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 38, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 142, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and moves it toward the wooden board with purple pegs."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully off the table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part rightward and upward to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the target vertical peg by lowering it down and fitting the part's hole onto the peg."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening fingers, separating from the part."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the lower left of the table, approaching the part without making contact."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the front-left vertical peg on the wooden base, moving downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 885, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the peg group area to approach the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and leftwards towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical peg on the wooden building block base, fingers open and separate from the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the dark table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal hollow piece on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod and the wooden base toward the right side."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right from the wooden block set towards the upper white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits the block onto the rod, and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the central wooden rack with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches towards the green block on the right lower area of the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the front-right test tube with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the front-right test tube with a purple top, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the front-right test tube, with fingers opening and separating from the block."}], "episode_index": 5}
+{"source_uid": "da72d47a5590fd0e", "num_frames": 2250, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block in front of the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "db96ce28-e97e-47e7-bbb7-071a70bf05e4"}, {"label": "valid", "start_step": 0, "end_step": 2226, "id": "UAMh0JcaN5CYU5-Yd-nRV"}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black desktop."}, {"label": "goal", "start_step": 205, "end_step": 342, "id": "f5c9f7a6-8b43-4e69-8818-2f729c1b8d70"}, {"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 desktop without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the purple rod to complete insertion preparation."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 343, "end_step": 423, "id": "7f5fb950-d28c-42fc-848e-e34c4fbe8642"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the blocks on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 424, "end_step": 576, "id": "f9a5a4af-732f-4c53-bc4c-f03c0bb74e17"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it down to fit."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white annular block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 577, "end_step": 666, "id": "fa28e807-62f2-41df-b7f0-cb4676fae8fe"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 667, "end_step": 813, "id": "ef624eb3-4736-46ba-b19b-c111f3c64882"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple pillar on the wooden rack."}, {"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 desktop without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple pillar to fix it in position."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple pillar without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white building block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 814, "end_step": 900, "id": "97d1270c-db30-4b10-bb42-6ee308099ae7"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "goal", "start_step": 901, "end_step": 1035, "id": "9ac55e06-c89e-4e7e-8993-72cdfd90ed1c"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop 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": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pressing it down to fit stably."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward to approach the green hexagonal block on the black tabletop, without touching the block yet."}, {"label": "goal", "start_step": 1036, "end_step": 1080, "id": "fe51ae41-3522-4f32-be77-258f6aa76d43"}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the tabletop, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1081, "end_step": 1212, "id": "719a38e8-170f-4e5c-a589-8e62f1124bc1"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green hexagonal block up, making it fully leave the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the green hexagonal block to move toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, and fits the block onto the rod completely."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block completely."}, {"label": "goal", "start_step": 1213, "end_step": 1308, "id": "bc474ae9-1cfc-49b5-9de4-0c1ffd2ac1a1"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1309, "end_step": 1449, "id": "792bfd3e-9334-41f2-9ce8-02c9a4fe5dc9"}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the upper white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 1450, "end_step": 1533, "id": "258cebe8-b487-480b-a04d-9903e79414d1"}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the upper white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 1534, "end_step": 1656, "id": "b04dfb1e-97d9-4594-8c70-da4413ced8ce"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple vertical rod on the wooden tray."}, {"label": "goal", "start_step": 1657, "end_step": 1728, "id": "0e342acd-0778-40b0-b306-df389928ceb7"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1977, "id": "a58cb9e9-5271-4ed3-bfc1-97305209d09c"}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the wooden rack with multiple stacked blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden rack, then releases the block after it is properly placed."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the right side of the table."}, {"label": "goal", "start_step": 1978, "end_step": 2040, "id": "cf991987-2fa4-43dd-9869-40dea20c4828"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand contacts the green cubic object, fingers close to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green ring from the black table surface."}, {"label": "goal", "start_step": 2041, "end_step": 2184, "id": "e9c6207c-6c50-4290-a2d8-43b039e0862f"}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with the purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_place: Right hand aligns the green ring with the purple tip of the white bottle and places it onto the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green ring from its grasp."}, {"label": "home", "start_step": 2227, "end_step": 2249, "id": "RUriIh8sOcV_dNSLoAboZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block in front of the left side of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black desktop."}, {"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 desktop without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the purple rod to complete insertion preparation."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the blocks on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it down to fit."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white annular block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple pillar on the wooden rack."}, {"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 desktop without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple pillar to fix it in position."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple pillar without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white building block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop 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": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pressing it down to fit stably."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward to approach the green hexagonal block on the black tabletop, without touching the block yet."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the tabletop, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green hexagonal block up, making it fully leave the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the green hexagonal block to move toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, and fits the block onto the rod completely."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block completely."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the wooden rack with multiple stacked blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden rack, then releases the block after it is properly placed."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the right side of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand contacts the green cubic object, fingers close to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green ring from the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with the purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_place: Right hand aligns the green ring with the purple tip of the white bottle and places it onto the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green ring from its grasp."}], "episode_index": 6}
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487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: 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": 488, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden base."}, {"label": "goal", "start_step": 562, "end_step": 633, "id": "0a5effe8-6528-4275-94a4-73d2a9d43d4d"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 634, "end_step": 810, "id": "c6b957bb-d4e6-4f52-a133-27ccbf94d199"}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden stacking base and releases the block."}, {"label": "goal", "start_step": 811, "end_step": 903, "id": "02c78b61-f022-41ed-bdef-3f350ad4f8fb"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 904, "end_step": 1053, "id": "1733999a-2b56-464f-bff8-cf947c48a3af"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1054, "end_step": 1122, "id": "a3fbe769-fa7b-458b-b7b2-cfa645c68d90"}, {"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 operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1123, "end_step": 1275, "id": "8a83b1bf-79d4-4648-9450-4f3c830463c4"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves away from the wooden base after placing the green block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-right area of the black table."}, {"label": "goal", "start_step": 1276, "end_step": 1344, "id": "9cf7803b-8498-46d4-94ab-301daf11ad05"}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table, adjusting grip to be stable."}, {"label": "goal", "start_step": 1345, "end_step": 1494, "id": "c0b96e31-4434-4b0c-9311-1f4223facb71"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the short purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the short purple peg on the wooden base, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black table surface."}, {"label": "goal", "start_step": 1495, "end_step": 1590, "id": "71448131-a84b-4aed-af7d-457048054392"}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1737, "id": "67c3ebc4-8e23-46a0-997d-824c363bd0bb"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylinder placed on the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upwards away from the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1738, "end_step": 1788, "id": "89c1f3aa-717a-4c63-ac63-33150da28b22"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1789, "end_step": 1926, "id": "f7194760-8ed8-46b7-9f9e-0559dfffdbb5"}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod until it is supported by the underlying block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod."}, {"label": "goal", "start_step": 1927, "end_step": 2010, "id": "5c999ba1-8f6a-4321-b85c-761ccb58cd2e"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right area of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2011, "end_step": 2241, "id": "5652a34b-6cac-49a0-8bf9-5de5434b8f28"}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the wooden tray with white blocks."}, {"label": "subtasks", "start_step": 2085, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green ring onto the white block with the purple top on the wooden tray, adjusting its position to fit."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green ring after placing it onto the target block."}, {"label": "home", "start_step": 2274, "end_step": 2297, "id": "V0w-NJPDOF9R6bKyOowXU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with slight wrist rotation and finger extension. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a grasp on it."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on 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 operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block on the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white block onto the purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: 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": 488, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden stacking base and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves away from the wooden base after placing the green block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-right area of the black table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table, adjusting grip to be stable."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the short purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the short purple peg on the wooden base, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylinder placed on the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upwards away from the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod until it is supported by the underlying block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right area of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the wooden tray with white blocks."}, {"label": "subtasks", "start_step": 2085, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green ring onto the white block with the purple top on the wooden tray, adjusting its position to fit."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green ring after placing it onto the target block."}], "episode_index": 7}
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v3.0/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..12a90e94e6506ec00b94409c88321e7b49959ee0
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,8 @@
+{"source_uid": "798b826e0dd8a236", "num_frames": 2891, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green block at the bottom of the leftmost peg on the wooden base, with fingers slightly adjusting posture during movement."}, {"label": "goal", "start_step": 0, "end_step": 245, "id": "73ba655e-19ea-4d24-9533-340f4145abb1"}, {"label": "valid", "start_step": 0, "end_step": 2858, "id": "VfGEG3XYOTSugwY7smaFQ"}, {"label": "subtasks", "start_step": 142, "end_step": 209, "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 block at the bottom of the leftmost peg, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "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 at the bottom of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "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 black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 246, "end_step": 445, "id": "a5ba603c-a785-4412-b4ac-c04307ea9a0b"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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 vertically up from the black table until it is fully off the supporting surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 285, "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: mate: Right hand mates the green cubic block onto the leftmost purple peg by lowering it and fitting it into the assembly position."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "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 on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the left peg of the wooden base and releases the green block."}, {"label": "goal", "start_step": 446, "end_step": 555, "id": "e8a1ea10-8dd2-4750-94aa-719c3981772b"}, {"label": "subtasks", "start_step": 458, "end_step": 517, "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 surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "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 adjusting to form a stable grip."}, {"label": "goal", "start_step": 556, "end_step": 790, "id": "bdf6e485-3b77-4a1e-82ea-486079da1e06"}, {"label": "subtasks", "start_step": 578, "end_step": 591, "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 object off the table and transports it toward the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost peg of the pegboard, fitting it down onto the peg."}, {"label": "subtasks", "start_step": 630, "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: hold: Right hand holds the white hexagonal object on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 791, "end_step": 910, "id": "66f9cfb3-4825-4a7a-9682-d214e415c64d"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the table with fingers closing around it."}, {"label": "goal", "start_step": 911, "end_step": 1160, "id": "7b7dd769-1210-4c8e-914b-c0f37065eaf5"}, {"label": "subtasks", "start_step": 922, "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: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "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 onto the left-front peg of the wooden rack, aligning the part's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the left-front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple rod, adjusting the block to fit securely on the rod."}, {"label": "goal", "start_step": 1161, "end_step": 1331, "id": "1a922dc6-92e6-4fdf-9bf5-ea78f7a2ea9f"}, {"label": "subtasks", "start_step": 1185, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 1332, "end_step": 1487, "id": "6894f3b1-7181-4365-8db9-0b08fc046ce5"}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1431, "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 hexagonal part with the purple peg and lowers it onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "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 pegboard with white and purple pegs toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "goal", "start_step": 1488, "end_step": 1589, "id": "d56ecda8-949a-4acd-962e-446c46bf05d1"}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1590, "end_step": 1766, "id": "dbaefea4-e154-48c0-b7c4-d4ed4a916f0f"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg above the green block on the wooden base."}, {"label": "goal", "start_step": 1767, "end_step": 1895, "id": "85003d2f-63fe-4463-919b-ed44d0ca5e29"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1896, "end_step": 2048, "id": "2515db3d-3e12-4cf5-9ecd-d37b9b7638e7"}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg by aligning the hole and lowering it down."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the green block of the stack, with fingers opening slightly."}, {"label": "goal", "start_step": 2049, "end_step": 2168, "id": "f840454d-b1ae-41d5-885d-f7b0ab8a3319"}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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 and rightward to approach the white cylinder on the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylinder on the table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder on the table surface without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table near the right side of the wooden peg base, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2169, "end_step": 2285, "id": "62aaae8d-30ac-4987-b928-66ff173b3dda"}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "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 cylindrical piece off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "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 piece with the purple peg by lowering it to align the piece's hole with the peg and fit them together."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "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 of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2286, "end_step": 2376, "id": "8c5f11fa-2480-4fe0-be00-74c59f132e66"}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2377, "end_step": 2523, "id": "1ca4cb4c-f754-4257-a38e-bf2bc9aea13d"}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "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 cylinder off the dark work surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "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 cylinder with the purple peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder fitted on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple peg, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the purple peg on the wooden base."}, {"label": "goal", "start_step": 2524, "end_step": 2619, "id": "0cbf8895-1ff0-4bfa-8490-dfbd72d6e7e4"}, {"label": "subtasks", "start_step": 2535, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block with purple top on the wooden rack, fingers open gradually."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 2620, "end_step": 2823, "id": "7b1b6224-6ce5-4838-b3e6-58b801655b35"}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the rightmost white pillar on the block tower."}, {"label": "subtasks", "start_step": 2685, "end_step": 2834, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green ring onto the top of the rightmost white pillar and releases the object."}, {"label": "home", "start_step": 2859, "end_step": 2890, "id": "42ekcqMrl3ubmBdoBfGhU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green block at the bottom of the leftmost peg on the wooden base, with fingers slightly adjusting posture during movement."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "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 block at the bottom of the leftmost peg, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "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 at the bottom of the leftmost peg without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "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 black table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "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 vertically up from the black table until it is fully off the supporting surface."}, {"label": "subtasks", "start_step": 270, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block leftward and upward to the position above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 285, "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: mate: Right hand mates the green cubic block onto the leftmost purple peg by lowering it and fitting it into the assembly position."}, {"label": "subtasks", "start_step": 338, "end_step": 434, "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 on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the left peg of the wooden base and releases the green block."}, {"label": "subtasks", "start_step": 458, "end_step": 517, "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 surface."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 578, "end_step": 591, "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 object off the table and transports it toward the leftmost peg of the pegboard."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost peg of the pegboard, fitting it down onto the peg."}, {"label": "subtasks", "start_step": 630, "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: hold: Right hand holds the white hexagonal object on the leftmost peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal piece onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the lower left area of the table."}, {"label": "subtasks", "start_step": 855, "end_step": 921, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the lower left area of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 922, "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: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden peg rack."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "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 onto the left-front peg of the wooden rack, aligning the part's hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 990, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the left-front peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple rod, adjusting the block to fit securely on the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1191, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the middle purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting its fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1431, "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 hexagonal part with the purple peg and lowers it onto the peg to complete nesting assembly."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "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 pegboard with white and purple pegs toward the green hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 1538, "end_step": 1589, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting around the block to establish a grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1680, "end_step": 1754, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1994, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg by aligning the hole and lowering it down."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the green block of the stack, with fingers opening slightly."}, {"label": "subtasks", "start_step": 2062, "end_step": 2121, "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 and rightward to approach the white cylinder on the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "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 cylinder on the table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2138, "end_step": 2159, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder on the table surface without moving."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical piece on the table near the right side of the wooden peg base, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "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 cylindrical piece off the table and transports it upward and leftward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "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 piece with the purple peg by lowering it to align the piece's hole with the peg and fit them together."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "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 of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, not yet touching the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2391, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "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 cylinder off the dark work surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "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 cylinder with the purple peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylinder fitted on the purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple peg, fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats slightly away from the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2535, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block with purple top on the wooden rack, fingers open gradually."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2632, "end_step": 2684, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the rightmost white pillar on the block tower."}, {"label": "subtasks", "start_step": 2685, "end_step": 2834, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green ring onto the top of the rightmost white pillar and releases the object."}], "episode_index": 0}
+{"source_uid": "8549a65ab3082ade", "num_frames": 2956, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: other:adjust_hand_posture: Right hand rotates its wrist and adjusts finger posture upward."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "7f492df6-5bab-4867-b7b9-69283db7562c"}, {"label": "valid", "start_step": 0, "end_step": 2926, "id": "0j4vG4x8Rl4aNdKQzBik1"}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: idle: Right hand stays empty in the air at the right side without moving."}, {"label": "subtasks", "start_step": 112, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block located below the wooden base on the black table."}, {"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 home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block below the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 271, "end_step": 423, "id": "11fa7a4c-df12-4ad7-8f7f-71cc522457ba"}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it stably."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand retreats away from the wooden base assembly area."}, {"label": "goal", "start_step": 424, "end_step": 537, "id": "7cf38b54-88f7-4231-972d-364080d1e521"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "goal", "start_step": 538, "end_step": 729, "id": "fcc427d7-5399-4bc8-999f-358935fad205"}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand releases the white hexagonal block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white block it holds on the purple rod of the wooden base."}, {"label": "goal", "start_step": 730, "end_step": 810, "id": "90989c0c-138a-4309-a26f-de19b624068f"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 811, "end_step": 972, "id": "24387661-3518-4cdb-b4b8-688e543bd8d1"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 870, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downwards from the assembly plate towards the white hexagonal block on the table."}, {"label": "goal", "start_step": 973, "end_step": 1071, "id": "c2132c81-a9a5-4bf5-bf0b-d605fdd0cb65"}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1072, "end_step": 1329, "id": "bbecc070-a51b-4569-88e8-10cade67128f"}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit tightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the green block on the table without touching the block."}, {"label": "goal", "start_step": 1330, "end_step": 1422, "id": "276fa0d2-e3a9-4664-ac20-c57aabe919fc"}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the green block on the table and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 1423, "end_step": 1593, "id": "543cbec3-a69b-46a7-940c-73af97d1c829"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green cube towards the white peg on the wooden base until it is above the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the green cube with the white peg by aligning the hole of the cube with the peg and pushing it down onto the peg."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1594, "end_step": 1845, "id": "88201837-f867-4333-9fce-8322ad3aa967"}, {"label": "subtasks", "start_step": 1628, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers continuously to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1846, "end_step": 1995, "id": "3fa4c32b-a59c-4596-ae6b-03450a7fdccb"}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts the block down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly upwards away from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 1996, "end_step": 2082, "id": "fe2e789e-b7a2-46f3-b4b0-663eb559d3d9"}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table next to the wooden base."}, {"label": "goal", "start_step": 2083, "end_step": 2337, "id": "d8108037-bd84-4083-9bea-773c37ec1cb8"}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2168, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, adjusts its position to be stable, then releases the block by opening fingers."}, {"label": "subtasks", "start_step": 2325, "end_step": 2377, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2338, "end_step": 2430, "id": "555f87db-da24-44dd-9234-42fc6338eac8"}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the white hexagonal block, fingers close to establish a stable grasp."}, {"label": "goal", "start_step": 2431, "end_step": 2589, "id": "189124c7-9ffb-4469-b71b-8c13fc86a4d5"}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical object which is now placed on the purple rod."}, {"label": "goal", "start_step": 2590, "end_step": 2688, "id": "c19a6bf3-1acf-40ba-8151-e8088eebfc3b"}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves towards the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "goal", "start_step": 2689, "end_step": 2895, "id": "6ce4b6f9-89bb-475f-b569-f41b4293c447"}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the purple-tipped white post on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the green block with the purple-tipped white post and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the post."}, {"label": "home", "start_step": 2927, "end_step": 2955, "id": "3BJt7E9Rm5tO-aPDprY3O"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: other:adjust_hand_posture: Right hand rotates its wrist and adjusts finger posture upward."}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: idle: Right hand stays empty in the air at the right side without moving."}, {"label": "subtasks", "start_step": 112, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block located below the wooden base on the black table."}, {"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 home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block below the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple rod to fix it stably."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green hexagonal block from its grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand retreats away from the wooden base assembly area."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 465, "end_step": 561, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 562, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: retreat: Right hand releases the white hexagonal block and moves away from the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white block it holds on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 870, "end_step": 937, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downwards from the assembly plate towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1222, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to make it fit tightly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1371, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the green block on the table without touching the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the green block on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the green cube upwards until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: transport: Right hand transports the green cube towards the white peg on the wooden base until it is above the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1581, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the green cube with the white peg by aligning the hole of the cube with the peg and pushing it down onto the peg."}, {"label": "subtasks", "start_step": 1582, "end_step": 1589, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the green cube, separating its fingers from the cube."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1874, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers continuously to form a stable grasp on the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts the block down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release_retreat: Right hand releases the white block on the purple rod and retreats slightly upwards away from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2010, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2167, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the home position 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": 2168, "end_step": 2324, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod, adjusts its position to be stable, then releases the block by opening fingers."}, {"label": "subtasks", "start_step": 2325, "end_step": 2377, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2378, "end_step": 2459, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand touches the white hexagonal block, fingers close to establish a stable grasp."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2505, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2588, "end_step": 2594, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand releases the white cylindrical object which is now placed on the purple rod."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves towards the green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2655, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it towards the purple-tipped white post on the wooden tray."}, {"label": "subtasks", "start_step": 2745, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand aligns the green block with the purple-tipped white post and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2909, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the post."}], "episode_index": 1}
+{"source_uid": "88e33d73743db0e3", "num_frames": 2833, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its wrist and finger positions from the initial upward-extended pose to a neutral resting posture, remaining empty without contacting any objects on the table. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "c8f0292a-3dea-46ee-ad7c-691cb890897d"}, {"label": "valid", "start_step": 0, "end_step": 2804, "id": "l9ol7BJ5CuI7OTEwqt4a9"}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 142, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting its finger and wrist positions to form a stable grasp around the object."}, {"label": "goal", "start_step": 208, "end_step": 351, "id": "60d80c98-8dc6-4b71-b0f1-486fe74fbbc2"}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block backward through the air toward the purple peg mounted on the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block slightly to insert the peg into the hole."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg, lowering the block until it rests stably on the surface of the wooden peg base."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the wooden block assembly toward the white hexagonal nut on the black table surface, not yet touching the target nut."}, {"label": "goal", "start_step": 352, "end_step": 468, "id": "7742e923-2b20-4e05-8f4b-cf78706a4e7b"}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making minor finger and wrist adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut on the table steadily without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the white hexagonal nut on the table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "goal", "start_step": 469, "end_step": 732, "id": "aa49e1e3-d051-46fa-9ccc-f7c540b964ce"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it to the position directly above the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, moves the nut downward to fit onto the peg, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: press: Right hand presses the white cylindrical block on the wooden assembly board vertically downward to seat it on the underlying green block."}, {"label": "goal", "start_step": 733, "end_step": 822, "id": "44d9fa24-73dc-45df-a4a4-e8f468807dd3"}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the assembly board toward the front-left white hexagonal nut on the table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting contact to form a stable grasp."}, {"label": "goal", "start_step": 823, "end_step": 954, "id": "1aea25c0-9152-4ada-bde6-77d80c206dee"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple vertical rod and fits the block onto the rod to establish the assembled state."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal block resting on the table surface, with no contact to the block yet."}, {"label": "goal", "start_step": 955, "end_step": 1173, "id": "d30d33f8-3fc2-4244-ae28-26c388cf5b07"}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_mate: Right hand lifts the grasped white hexagonal block off the table surface, moves it toward the purple vertical rod on the wooden base, and aligns the block's central hole with the rod to start the assembly process."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the table near the wooden assembly base."}, {"label": "goal", "start_step": 1174, "end_step": 1449, "id": "663b6a7c-f193-46e1-9751-bcc4aa4ec6d7"}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to position it directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, fitting the nut onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until the nut seats firmly on the stacked white nut below, supported by the rod and underlying nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: retreat: Right hand moves empty downward and away from the wooden assembly base after releasing the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves toward the green hexagonal block on the dark table surface with fingers slightly extended."}, {"label": "goal", "start_step": 1450, "end_step": 1505, "id": "7dcb3797-b0f7-4fc7-9bb5-7becaa97ac22"}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts finger positions to form a stable grasp on the green hexagonal block, which remains resting on the table surface."}, {"label": "goal", "start_step": 1506, "end_step": 1649, "id": "242c9364-060c-4473-861a-1886e106302c"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple post without noticeable movement of the hand or block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1650, "end_step": 1751, "id": "68cc9a0d-9489-4b15-b1d4-52551fc174b3"}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand presses fingers against the white hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "goal", "start_step": 1752, "end_step": 1895, "id": "57f9a294-c4c8-4033-b518-b574e27b6ace"}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface and moves it upward and backward toward the wooden block assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, separating from the block."}, {"label": "goal", "start_step": 1896, "end_step": 1994, "id": "7d8bfe04-0879-4e75-9bea-918db81b8124"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the black table surface near the wooden block stand."}, {"label": "goal", "start_step": 1995, "end_step": 2225, "id": "76545d8d-36d8-4be6-b0c9-17f00dd02008"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then transports it to the position directly above the empty slot next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to place it onto the empty slot on the wooden stand, with the block fully supported by the stand at the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the placed white hexagonal block on the wooden stand steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block, separating the hand from the block which stays on the wooden stand."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: idle: Right hand stays near the stacked blocks on the wooden base without moving, with its index finger lightly touching the purple rod on the base."}, {"label": "goal", "start_step": 2226, "end_step": 2321, "id": "923c2e72-9eb4-42d2-aa86-40a2aedb3303"}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the white hexagonal nut."}, {"label": "goal", "start_step": 2322, "end_step": 2489, "id": "9028bb8b-f580-47dc-94ec-00d10652236b"}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the table surface and moves it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the vertical purple rod on the stand, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white cylindrical block along the purple rod until the block rests stably on the white base of the stand."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty from the white bottle on the wooden rack downward toward the green square block on the right black table surface, with fingers extended as it approaches the target block."}, {"label": "goal", "start_step": 2490, "end_step": 2582, "id": "62350bbf-59d3-42ff-9401-38cde56d3899"}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the top and side of the green square block, fingers close around the block and adjust contact points to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green square block on the table surface without obvious visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the green ring-shaped block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "goal", "start_step": 2583, "end_step": 2762, "id": "79aa2b78-ad82-48d7-bebd-4d49e924e70a"}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green ring-shaped block through the air toward the white cylinder with a purple cap on the light wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the green ring-shaped block with the white cylinder with a purple cap and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release_retreat: Right hand opens fingers to release the fitted green ring-shaped block and moves backward away from the light wooden tray."}, {"label": "home", "start_step": 2805, "end_step": 2832, "id": "zF0uvmV0vyaevMwa_8QcR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts its wrist and finger positions from the initial upward-extended pose to a neutral resting posture, remaining empty without contacting any objects on the table. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 30, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves from its initial position on the right side of the workspace toward the green hexagonal nut placed in front of the wooden pegboard, remaining empty as it approaches the target object."}, {"label": "subtasks", "start_step": 142, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the target green hexagonal nut, adjusting its finger and wrist positions to form a stable grasp around the object."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is completely raised off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green hexagonal block backward through the air toward the purple peg mounted on the wooden peg base."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and lowers the block slightly to insert the peg into the hole."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand slides the green hexagonal block downward along the purple peg, lowering the block until it rests stably on the surface of the wooden peg base."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the wooden block assembly toward the white hexagonal nut on the black table surface, not yet touching the target nut."}, {"label": "subtasks", "start_step": 390, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making minor finger and wrist adjustments to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut on the table steadily without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the white hexagonal nut on the table surface, lifts it upward until the nut is fully separated from the table."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut, moves it to the position directly above the purple vertical peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 518, "end_step": 719, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, moves the nut downward to fit onto the peg, and makes small adjustments to secure the fit."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: press: Right hand presses the white cylindrical block on the wooden assembly board vertically downward to seat it on the underlying green block."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward and forward from the assembly board toward the front-left white hexagonal nut on the table, with fingers slightly spread."}, {"label": "subtasks", "start_step": 788, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 892, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple vertical rod and fits the block onto the rod to establish the assembled state."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal block resting on the table surface, with no contact to the block yet."}, {"label": "subtasks", "start_step": 1012, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_mate: Right hand lifts the grasped white hexagonal block off the table surface, moves it toward the purple vertical rod on the wooden base, and aligns the block's central hole with the rod to start the assembly process."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal nut resting on the table near the wooden assembly base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted white hexagonal nut to position it directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod, fitting the nut onto the top of the rod to establish assembly alignment."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal nut along the purple rod until the nut seats firmly on the stacked white nut below, supported by the rod and underlying nut."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the seated white hexagonal nut on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: retreat: Right hand moves empty downward and away from the wooden assembly base after releasing the nut."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves toward the green hexagonal block on the dark table surface with fingers slightly extended."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts finger positions to form a stable grasp on the green hexagonal block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to the position above the purple vertical post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple post without noticeable movement of the hand or block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand presses fingers against the white hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the dark table surface and moves it upward and backward toward the wooden block assembly."}, {"label": "subtasks", "start_step": 1808, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod on the wooden block assembly and fits the nut onto the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod of the wooden block assembly without observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod, separating from the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes and adjusts fingers to firmly grasp the white hexagonal block resting on the black table surface near the wooden block stand."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then transports it to the position directly above the empty slot next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 2062, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to place it onto the empty slot on the wooden stand, with the block fully supported by the stand at the end of the segment."}, {"label": "subtasks", "start_step": 2078, "end_step": 2204, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the placed white hexagonal block on the wooden stand steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release: Right hand gradually opens fingers to release the white hexagonal block, separating the hand from the block which stays on the wooden stand."}, {"label": "subtasks", "start_step": 2220, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: idle: Right hand stays near the stacked blocks on the wooden base without moving, with its index finger lightly touching the purple rod on the base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the white hexagonal nut."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the table surface and moves it upward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2385, "end_step": 2459, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the vertical purple rod on the stand, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: place: Right hand lowers the white cylindrical block along the purple rod until the block rests stably on the white base of the stand."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: reach: Right hand moves empty from the white bottle on the wooden rack downward toward the green square block on the right black table surface, with fingers extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: grasp: Right hand contacts the top and side of the green square block, fingers close around the block and adjust contact points to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2579, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: hold: Right hand holds the green square block on the table surface without obvious visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2601, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: lift: Right hand holds the green ring-shaped block and lifts it upward until the block fully separates from the dark table surface."}, {"label": "subtasks", "start_step": 2602, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: transport: Right hand carries the lifted green ring-shaped block through the air toward the white cylinder with a purple cap on the light wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2751, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: mate: Right hand aligns the green ring-shaped block with the white cylinder with a purple cap and lowers the block to fit snugly onto the cylinder."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand stays empty in its neutral resting position on the left side of the workspace, with no observable movement of the wrist, hand or fingers. | Right hand: release_retreat: Right hand opens fingers to release the fitted green ring-shaped block and moves backward away from the light wooden tray."}], "episode_index": 2}
+{"source_uid": "e94d40e1546711a8", "num_frames": 2658, "annotation_status": "loaded", "has_annotation": true, "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 at the left side of the table with fingers slightly spread. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "555abfb4-545f-4c23-9f69-5fb4f036930f"}, {"label": "valid", "start_step": 0, "end_step": 2627, "id": "tEWFvrr5995BM066LkSb9"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white top of the leftmost column on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the grasped white top of the leftmost column downward along the column axis."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 187, "end_step": 348, "id": "3f95f850-cc08-406e-a68f-73f50416cf5f"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "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 table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00009", "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, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green ring downward along the purple peg on the wooden base."}, {"label": "goal", "start_step": 349, "end_step": 450, "id": "0d88b6a0-6dfb-4263-8da1-a3ec2b296aa4"}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_reach: Right hand releases the green ring on the purple peg and reaches toward the white hexagonal block on the dark table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "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 dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "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 dark table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "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 black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 451, "end_step": 636, "id": "0392a9ff-7333-41ed-938a-d00066280e65"}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "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 black table and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "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 peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 532, "end_step": 629, "id": "reasoning-language-00017", "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 peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal piece onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 637, "end_step": 735, "id": "1fecc632-06e2-474e-a5a2-1adedb00b5b0"}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the front white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the front white hexagonal piece on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 736, "end_step": 951, "id": "a04e9da4-80e4-4b8b-b0fe-aabade32e9b4"}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "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 piece off the table and transports it toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost green peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost green peg of the board without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "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 on the right purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 952, "end_step": 1059, "id": "228d6663-3dd0-42ef-91df-b96162e006b7"}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00025", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00026", "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, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1060, "end_step": 1209, "id": "2470d12c-61d5-4f95-9740-8df19e74020d"}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "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 piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod, lowering it onto the rod until it is fitted in place."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "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."}, {"label": "goal", "start_step": 1210, "end_step": 1293, "id": "729e15af-6f71-4d33-9263-7f07fef3a772"}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1294, "end_step": 1476, "id": "6936ef49-af11-4273-ac2e-e14829955e38"}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "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 from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00035", "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 hexagonal block with the purple rod and inserts the rod into the block to complete initial assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00037", "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 by opening its fingers."}, {"label": "goal", "start_step": 1477, "end_step": 1575, "id": "753918f1-2898-452d-8d28-c6c72e4abee0"}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00038", "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 peg of the wooden rack with fingers adjusting the block position."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "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 with fingers closing and adjusting to fit the block shape."}, {"label": "goal", "start_step": 1576, "end_step": 1704, "id": "3e943b55-52a4-444d-aa0d-0363680fe335"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "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 rod by aligning the block's hole with the rod and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "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 by opening its fingers to separate from the block."}, {"label": "goal", "start_step": 1705, "end_step": 1806, "id": "a930387e-377d-4fe8-b8ad-ed9efba176de"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves down-right towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical block on the right side of the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 1807, "end_step": 2076, "id": "e264ef8a-bb27-4807-b6f5-9a2c798a9f37"}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand holds the white cylindrical object and moves it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod, adjusting position continuously during the assembly process."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00049", "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 on the wooden tray, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2077, "end_step": 2142, "id": "d0c9d2d3-ef3a-433f-8a2f-114858524537"}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward and rightward from the wooden tray area to approach the white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the white hollow cylinder on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 2143, "end_step": 2268, "id": "213b63cd-ac29-43e5-a761-bec8001e0554"}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the white hollow cylinder on the purple rod and retreats slightly upward."}, {"label": "goal", "start_step": 2269, "end_step": 2367, "id": "4f23c23f-9734-415a-a7fb-4fa65a3ce5e0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_release: Right hand lifts and releases the front-right white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "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 cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 2368, "end_step": 2595, "id": "82f1364f-741b-46f2-8df2-182a9690f3ef"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the green block toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand retreats away from the assembled green block while empty."}, {"label": "home", "start_step": 2628, "end_step": 2657, "id": "UqwvQJnWF7HEnhfDL__xq"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward: Left hand moves upward at the left side of the table with fingers slightly spread. | Right hand: reach: Right hand moves leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "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 leftward toward the leftmost column on the wooden base with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white top of the leftmost column on the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the grasped white top of the leftmost column downward along the column axis."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left 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": 202, "end_step": 224, "id": "reasoning-language-00006", "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 table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "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 presses it down to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 338, "end_step": 344, "id": "reasoning-language-00009", "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, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press: Right hand presses the green ring downward along the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_reach: Right hand releases the green ring on the purple peg and reaches toward the white hexagonal block on the dark table."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00012", "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 dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "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 dark table without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "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 black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "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 black table and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 531, "id": "reasoning-language-00016", "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 peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 532, "end_step": 629, "id": "reasoning-language-00017", "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 peg without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate_release: Right hand fits the white hollow hexagonal piece onto the purple vertical peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the front white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the front white hexagonal piece on the black table surface with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 758, "end_step": 787, "id": "reasoning-language-00021", "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 piece off the table and transports it toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the leftmost green peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost green peg of the board without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00024", "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 on the right purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00025", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1079, "id": "reasoning-language-00026", "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, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "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 piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the white hexagonal piece with the purple rod, lowering it onto the rod until it is fitted in place."}, {"label": "subtasks", "start_step": 1192, "end_step": 1199, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the white hexagonal piece, fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00030", "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."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00034", "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 from the table and transports it to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00035", "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 hexagonal block with the purple rod and inserts the rod into the block to complete initial assembly."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00037", "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 by opening its fingers."}, {"label": "subtasks", "start_step": 1485, "end_step": 1491, "id": "reasoning-language-00038", "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 peg of the wooden rack with fingers adjusting the block position."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00040", "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 with fingers closing and adjusting to fit the block shape."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00041", "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 to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1679, "id": "reasoning-language-00042", "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 rod by aligning the block's hole with the rod and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00043", "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 by opening its fingers to separate from the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves down-right towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the upper white cylindrical block on the right side of the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand holds the white cylindrical object and moves it leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and fits it onto the rod, adjusting position continuously during the assembly process."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00049", "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 on the wooden tray, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downward and rightward from the wooden tray area to approach the white hollow cylinder on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the white hollow cylinder on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward toward the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the white hollow cylinder on the purple rod and retreats slightly upward."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift_release: Right hand lifts and releases the front-right white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00056", "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 cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area 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": 2385, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2437, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the green block toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: retreat: Right hand retreats away from the assembled green block while empty."}], "episode_index": 3}
+{"source_uid": "18ceb2af49c65e3a", "num_frames": 2679, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand rotates the wrist slightly and moves upward, adjusting fingers to a steady open posture. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "5c047d96-e585-4a5f-a616-7703ed857df2"}, {"label": "valid", "start_step": 0, "end_step": 2648, "id": "iRxC825gZp0-L46Jsc3Ej"}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and left toward the green hexagonal block in front of the wooden peg base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal nut resting on the table near the wooden assembly base to form a stable grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 181, "end_step": 324, "id": "dcf24032-5bea-4e12-a239-e2cf04c4c7e4"}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to position directly over the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small wrist and finger adjustments to properly seat the nut in the assembly position."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the seated green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg to rest on the wooden assembly board, opening fingers to release the block."}, {"label": "goal", "start_step": 325, "end_step": 426, "id": "8c8eb522-ff31-4ab0-84d0-552f8acc8d14"}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves toward the white hexagonal block on the table, closing fingers around the block and adjusting grip to secure the hold."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the table without movement."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 427, "end_step": 573, "id": "0841e93a-2086-4513-9c23-1675e1384044"}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and moves it downward to fit the nut onto the post until it is stably supported by the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut on the table surface, with fingers slightly open and extended."}, {"label": "goal", "start_step": 574, "end_step": 666, "id": "54b09155-8044-45c1-a3e9-6f1deb6683fb"}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to establish a grip on the nut."}, {"label": "goal", "start_step": 667, "end_step": 792, "id": "7a89550c-fd5d-4797-a752-6426fa6ff2ec"}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the grasped white hexagonal nut through the air toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and slides the nut onto the peg to complete the mating action."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg to fully seat it on the wooden pegboard, opening fingers to release the block as the press completes."}, {"label": "goal", "start_step": 793, "end_step": 888, "id": "ffc976cc-c2a6-4066-a5a5-4afb4df1fd76"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grasp on the nut."}, {"label": "goal", "start_step": 889, "end_step": 1017, "id": "ba9cead2-e52c-4d4e-94ed-62bf6156ec87"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal block horizontally to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, lowers the block to fit onto the peg, opens its fingers to release the block onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and toward the green hexagonal block placed on the black table adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 1018, "end_step": 1095, "id": "e8ef5f8d-3680-43a5-b375-e925ffb09609"}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table to form a grip."}, {"label": "goal", "start_step": 1096, "end_step": 1271, "id": "1801275d-5905-4e06-b428-61c6127abdcd"}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut along the rod to its seated position, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand holds the green cylindrical block, aligns its hole with the purple vertical rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "goal", "start_step": 1272, "end_step": 1448, "id": "81421ac2-f8f9-45e4-97c2-8c05bba6c0c3"}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward empty-handed toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the front white hexagonal nut on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal cylinder resting on the black table surface, forming a stable grip."}, {"label": "goal", "start_step": 1449, "end_step": 1922, "id": "a936680e-cc16-4464-a410-d05e8c5f43d4"}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white hexagonal cylinder toward the purple rod, misaligns the part, opens fingers to release the cylinder which falls onto the table below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward with empty fingers to approach the fallen white hexagonal cylinder on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal cylinder, making small adjustments to establish a stable grip on the part."}, {"label": "subtasks", "start_step": 1710, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward back to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, lowering the part to fit it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on the wooden stacking base, opening fingers to break contact with the block."}, {"label": "goal", "start_step": 1923, "end_step": 2009, "id": "efb6b417-1560-4c9d-a35a-a1002da82612"}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut resting on the table adjacent to the wooden base, keeping fingers open during movement."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 2010, "end_step": 2114, "id": "f32c365a-370b-4253-8ddd-5ae0c013a900"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand carries the white hexagonal block toward the empty position on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty peg on the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "goal", "start_step": 2115, "end_step": 2204, "id": "9e853d84-7db7-49f3-bbff-4102c83a0121"}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand holds the white cylindrical block with green base, lifts it off the dark table surface, and transports it upward and leftward to the position directly above the empty slot on the wooden block tray."}, {"label": "goal", "start_step": 2205, "end_step": 2366, "id": "520eaff1-7f82-419f-876e-247a7b2c894e"}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block with green base downward into the empty slot on the wooden block tray until the block is supported by the tray, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and rightward away from the wooden block tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green cube on the table, with fingers extended and no contact made with the cube."}, {"label": "goal", "start_step": 2367, "end_step": 2453, "id": "069faf31-8c7a-40ae-aabc-e1cf690c4272"}, {"label": "subtasks", "start_step": 2400, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the green cube, closing fingers and adjusting contact positions to form a grip on the cube."}, {"label": "goal", "start_step": 2454, "end_step": 2615, "id": "846dd521-c108-47a0-88d7-16f1dcaf75bd"}, {"label": "subtasks", "start_step": 2475, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the green ring block completely off the table surface, transporting the block upward and leftward to the position directly above the empty white peg on the stacked block assembly."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green ring block with the empty white peg, moving the block downward to fit the hole onto the peg."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place: Right hand lowers the green ring block fully onto the supporting white block below to rest stably on the block stack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the green ring block, separating the hand from the placed block."}, {"label": "home", "start_step": 2649, "end_step": 2678, "id": "5y9VjguX9MQEQ4G1oXPDc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand rotates the wrist slightly and moves upward, adjusting fingers to a steady open posture. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 38, "end_step": 67, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: other:adjust_posture: Right hand rotates the wrist slightly and adjusts fingers to a pre-reach posture while staying near the initial right position."}, {"label": "subtasks", "start_step": 68, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and left toward the green hexagonal block in front of the wooden peg base, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface, with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal nut resting on the table near the wooden assembly base to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal nut completely off the table surface and moves it upward to position directly over the target purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the green hexagonal nut with the target purple peg, lowers the nut onto the peg, and makes small wrist and finger adjustments to properly seat the nut in the assembly position."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the seated green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg to rest on the wooden assembly board, opening fingers to release the block."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach_grasp: Right hand moves toward the white hexagonal block on the table, closing fingers around the block and adjusting grip to secure the hold."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block on the table without movement."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and moves it downward to fit the nut onto the post until it is stably supported by the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the loose white hexagonal nut on the table surface, with fingers slightly open and extended."}, {"label": "subtasks", "start_step": 622, "end_step": 681, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut on the table, adjusting finger contact positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 682, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the grasped white hexagonal nut through the air toward the purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 720, "end_step": 779, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and slides the nut onto the peg to complete the mating action."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg to fully seat it on the wooden pegboard, opening fingers to release the block as the press completes."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the table surface in front of the pegboard."}, {"label": "subtasks", "start_step": 840, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions and closing fingers to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand moves the lifted white hexagonal block horizontally to a position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 945, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, lowers the block to fit onto the peg, opens its fingers to release the block onto the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves down and toward the green hexagonal block placed on the black table adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the target green hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut completely off the table surface and moves it upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal nut with the purple rod, lowers the nut along the rod to its seated position, and opens fingers to release the secured nut."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand holds the green cylindrical block, aligns its hole with the purple vertical rod on the wooden base and fits the block onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1298, "end_step": 1327, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward empty-handed toward the front white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal nut, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: hold: Right hand holds the front white hexagonal nut on the black table surface without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal cylinder resting on the black table surface, forming a stable grip."}, {"label": "subtasks", "start_step": 1478, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1530, "end_step": 1627, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white hexagonal cylinder toward the purple rod, misaligns the part, opens fingers to release the cylinder which falls onto the table below."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward with empty fingers to approach the fallen white hexagonal cylinder on the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal cylinder, making small adjustments to establish a stable grip on the part."}, {"label": "subtasks", "start_step": 1710, "end_step": 1851, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward back to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, lowering the part to fit it onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand releases the white cylindrical block on the wooden stacking base, opening fingers to break contact with the block."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut resting on the table adjacent to the wooden base, keeping fingers open during movement."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut which remains on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: transport: Right hand carries the white hexagonal block toward the empty position on the wooden assembly rack."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the empty peg on the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusting finger positions to close around the nut to form a grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand holds the white cylindrical block with green base, lifts it off the dark table surface, and transports it upward and leftward to the position directly above the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block with green base downward into the empty slot on the wooden block tray until the block is supported by the tray, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: retreat: Right hand moves empty downward and rightward away from the wooden block tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: reach: Right hand moves downward toward the green cube on the table, with fingers extended and no contact made with the cube."}, {"label": "subtasks", "start_step": 2400, "end_step": 2474, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: grasp: Right hand makes contact with the green cube, closing fingers and adjusting contact positions to form a grip on the cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2534, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: lift_transport: Right hand lifts the green ring block completely off the table surface, transporting the block upward and leftward to the position directly above the empty white peg on the stacked block assembly."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the green ring block with the empty white peg, moving the block downward to fit the hole onto the peg."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: place: Right hand lowers the green ring block fully onto the supporting white block below to rest stably on the block stack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty in the steady raised position on the left side, with no movement of the wrist or fingers. | Right hand: release: Right hand opens its fingers to release the green ring block, separating the hand from the placed block."}], "episode_index": 4}
+{"source_uid": "e358c28583112380", "num_frames": 2452, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly rightward and upward with fingers slightly opening to adjust its position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "0d47fcfb-3593-40fe-9399-5260d461a021"}, {"label": "valid", "start_step": 0, "end_step": 2425, "id": "gAqwOtoPgMxZHTRe3ZJMO"}, {"label": "subtasks", "start_step": 38, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 142, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 181, "end_step": 369, "id": "747d7fa4-1d2c-4cc6-875a-2ee0b68a8852"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and moves it toward the wooden board with purple pegs."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 370, "end_step": 465, "id": "11bb1dcf-0c56-4c81-abdd-bf005efcc936"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 466, "end_step": 600, "id": "37454e7a-280a-44be-a3ce-c87c17c53ea9"}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully off the table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part rightward and upward to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the target vertical peg by lowering it down and fitting the part's hole onto the peg."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening fingers, separating from the part."}, {"label": "goal", "start_step": 601, "end_step": 699, "id": "a3701c7d-a3e9-42f7-adab-722095704b7f"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the lower left of the table, approaching the part without making contact."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 700, "end_step": 837, "id": "00ef8e0c-8c82-43a2-bf15-b60485b8c76c"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the front-left vertical peg on the wooden base, moving downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 838, "end_step": 924, "id": "50c6c25d-38d7-4110-9590-8f9606baefbe"}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 885, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 925, "end_step": 1083, "id": "14bcb9b6-5c06-4c1a-9895-229816cd3466"}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1084, "end_step": 1152, "id": "77aa5140-a949-4ada-8621-693e7c9e0826"}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the peg group area to approach the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip."}, {"label": "goal", "start_step": 1153, "end_step": 1338, "id": "4820adb2-9d6b-4b59-a31b-4bbe8e186998"}, {"label": "subtasks", "start_step": 1170, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and leftwards towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical peg on the wooden building block base, fingers open and separate from the peg."}, {"label": "goal", "start_step": 1339, "end_step": 1449, "id": "9cdffb17-4190-40cd-96cf-b6be68011aa0"}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the dark table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1450, "end_step": 1629, "id": "c017f43a-01f5-4faa-80cb-ffbc9a1bf741"}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal hollow piece on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod and the wooden base toward the right side."}, {"label": "goal", "start_step": 1630, "end_step": 1707, "id": "b46d625b-2230-4fb8-bff6-8dfd7e3ccb4f"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right from the wooden block set towards the upper white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers closing to adjust grip."}, {"label": "goal", "start_step": 1708, "end_step": 1845, "id": "b080efa4-96e1-40da-b640-a37d9f33d524"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1846, "end_step": 1932, "id": "0f6ed7a0-3053-4151-8a70-091734d07821"}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1933, "end_step": 2160, "id": "e27d2feb-e4bf-4984-bb02-48d100f1fe32"}, {"label": "subtasks", "start_step": 1950, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits the block onto the rod, and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the central wooden rack with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches towards the green block on the right lower area of the table."}, {"label": "goal", "start_step": 2161, "end_step": 2229, "id": "bce2c736-3098-45f9-a786-3472e4fdf6c1"}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2230, "end_step": 2385, "id": "9c0e94fe-9547-4c71-8937-ddde27470acb"}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the front-right test tube with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the front-right test tube with a purple top, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the front-right test tube, with fingers opening and separating from the block."}, {"label": "home", "start_step": 2426, "end_step": 2451, "id": "SII74KoiR9n4rhHm6HM7u"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly rightward and upward with fingers slightly opening to adjust its position. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 38, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves leftward and downward from the right side of the table toward the green hexagonal block below the peg board, knocking over the white and green blocks on the peg board during the movement."}, {"label": "subtasks", "start_step": 142, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and moves it toward the wooden board with purple pegs."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the front-left purple peg of the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 412, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully off the table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part rightward and upward to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the target vertical peg by lowering it down and fitting the part's hole onto the peg."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening fingers, separating from the part."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal part on the lower left of the table, approaching the part without making contact."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the front-left vertical peg on the wooden base, moving downward to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white ring on the purple peg of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 885, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper 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": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 968, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning the block's hole with the rod and lowering the block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downwards and leftwards from the peg group area to approach the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1118, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1237, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and leftwards towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the purple cylindrical peg on the wooden building block base, fingers open and separate from the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow piece on the dark table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal hollow piece off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1530, "end_step": 1604, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal hollow piece with the purple rod and fits it down onto the rod."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal hollow piece on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats away from the purple rod and the wooden base toward the right side."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves down-right from the wooden block set towards the upper white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: hold: Right hand holds the upper white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the right side of the table, fingers closing to adjust grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod, aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple rod, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1882, "end_step": 1949, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the purple rod on the central wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, fits the block onto the rod, and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand retreats downward and rightward away from the central wooden rack with empty hand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand reaches towards the green block on the right lower area of the table."}, {"label": "subtasks", "start_step": 2182, "end_step": 2241, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the front-right test tube with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the green block onto the front-right test tube with a purple top, aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the front-right test tube, with fingers opening and separating from the block."}], "episode_index": 5}
+{"source_uid": "da72d47a5590fd0e", "num_frames": 2250, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block in front of the left side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "db96ce28-e97e-47e7-bbb7-071a70bf05e4"}, {"label": "valid", "start_step": 0, "end_step": 2226, "id": "UAMh0JcaN5CYU5-Yd-nRV"}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black desktop."}, {"label": "goal", "start_step": 205, "end_step": 342, "id": "f5c9f7a6-8b43-4e69-8818-2f729c1b8d70"}, {"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 desktop without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the purple rod to complete insertion preparation."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 343, "end_step": 423, "id": "7f5fb950-d28c-42fc-848e-e34c4fbe8642"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the blocks on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 424, "end_step": 576, "id": "f9a5a4af-732f-4c53-bc4c-f03c0bb74e17"}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it down to fit."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white annular block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 577, "end_step": 666, "id": "fa28e807-62f2-41df-b7f0-cb4676fae8fe"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 667, "end_step": 813, "id": "ef624eb3-4736-46ba-b19b-c111f3c64882"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple pillar on the wooden rack."}, {"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 desktop without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple pillar to fix it in position."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple pillar without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white building block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 814, "end_step": 900, "id": "97d1270c-db30-4b10-bb42-6ee308099ae7"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "goal", "start_step": 901, "end_step": 1035, "id": "9ac55e06-c89e-4e7e-8993-72cdfd90ed1c"}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop 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": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pressing it down to fit stably."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward to approach the green hexagonal block on the black tabletop, without touching the block yet."}, {"label": "goal", "start_step": 1036, "end_step": 1080, "id": "fe51ae41-3522-4f32-be77-258f6aa76d43"}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the tabletop, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1081, "end_step": 1212, "id": "719a38e8-170f-4e5c-a589-8e62f1124bc1"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green hexagonal block up, making it fully leave the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the green hexagonal block to move toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, and fits the block onto the rod completely."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block completely."}, {"label": "goal", "start_step": 1213, "end_step": 1308, "id": "bc474ae9-1cfc-49b5-9de4-0c1ffd2ac1a1"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1309, "end_step": 1449, "id": "792bfd3e-9334-41f2-9ce8-02c9a4fe5dc9"}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the upper white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 1450, "end_step": 1533, "id": "258cebe8-b487-480b-a04d-9903e79414d1"}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the upper white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 1534, "end_step": 1656, "id": "b04dfb1e-97d9-4594-8c70-da4413ced8ce"}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple vertical rod on the wooden tray."}, {"label": "goal", "start_step": 1657, "end_step": 1728, "id": "0e342acd-0778-40b0-b306-df389928ceb7"}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1977, "id": "a58cb9e9-5271-4ed3-bfc1-97305209d09c"}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the wooden rack with multiple stacked blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden rack, then releases the block after it is properly placed."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the right side of the table."}, {"label": "goal", "start_step": 1978, "end_step": 2040, "id": "cf991987-2fa4-43dd-9869-40dea20c4828"}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand contacts the green cubic object, fingers close to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green ring from the black table surface."}, {"label": "goal", "start_step": 2041, "end_step": 2184, "id": "e9c6207c-6c50-4290-a2d8-43b039e0862f"}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with the purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_place: Right hand aligns the green ring with the purple tip of the white bottle and places it onto the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green ring from its grasp."}, {"label": "home", "start_step": 2227, "end_step": 2249, "id": "RUriIh8sOcV_dNSLoAboZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves empty towards the green hexagonal block in front of the left side of the wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black desktop."}, {"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 desktop without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cubic block with the top of the purple rod to complete insertion preparation."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the green cubic block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves away from the wooden base towards the blocks on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and lowering it down to fit."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white annular block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple pillar on the wooden rack."}, {"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 desktop without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the top of the purple pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 735, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: press: Right hand presses the white hexagonal block downwards along the purple pillar to fix it in position."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple pillar without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white building block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop 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": 930, "end_step": 1011, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, pressing it down to fit stably."}, {"label": "subtasks", "start_step": 1012, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1028, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward to approach the green hexagonal block on the black tabletop, without touching the block yet."}, {"label": "subtasks", "start_step": 1058, "end_step": 1094, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the tabletop, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green hexagonal block up, making it fully leave the black tabletop."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the green hexagonal block to move toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple rod, and fits the block onto the rod completely."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block completely."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden peg base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hollow cylinder and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the upper white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it towards the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white hollow cylinder onto the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1680, "end_step": 1701, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the wooden rack with multiple stacked blocks."}, {"label": "subtasks", "start_step": 1830, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden rack, then releases the block after it is properly placed."}, {"label": "subtasks", "start_step": 1950, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand retreats away from the wooden rack towards the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the right side of the table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2039, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand contacts the green cubic object, fingers close to form a stable grasp on the object."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green ring from the black table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green ring towards the white bottle with the purple tip on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate_place: Right hand aligns the green ring with the purple tip of the white bottle and places it onto the bottle."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green ring from its grasp."}], "episode_index": 6}
+{"source_uid": "25e7254be284dbea", "num_frames": 2298, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with slight wrist rotation and finger extension. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "2741976b-5273-43c0-b7f8-e4fe35276450"}, {"label": "valid", "start_step": 0, "end_step": 2273, "id": "CnQMe9y-Y1yFP5XtqGC-p"}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a grasp on it."}, {"label": "goal", "start_step": 169, "end_step": 360, "id": "12333ce8-afcc-42cf-91c2-cdcd5647c806"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on 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 operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block on the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white block onto the purple post of the wooden base and releases the block."}, {"label": "goal", "start_step": 361, "end_step": 444, "id": "e4e195e8-790c-4c3e-8828-a14429a8c065"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 445, "end_step": 561, "id": "3845bea3-6df1-49be-8705-537c7af91296"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: 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": 488, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden base."}, {"label": "goal", "start_step": 562, "end_step": 633, "id": "0a5effe8-6528-4275-94a4-73d2a9d43d4d"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 634, "end_step": 810, "id": "c6b957bb-d4e6-4f52-a133-27ccbf94d199"}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden stacking base and releases the block."}, {"label": "goal", "start_step": 811, "end_step": 903, "id": "02c78b61-f022-41ed-bdef-3f350ad4f8fb"}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 904, "end_step": 1053, "id": "1733999a-2b56-464f-bff8-cf947c48a3af"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"label": "goal", "start_step": 1054, "end_step": 1122, "id": "a3fbe769-fa7b-458b-b7b2-cfa645c68d90"}, {"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 operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1123, "end_step": 1275, "id": "8a83b1bf-79d4-4648-9450-4f3c830463c4"}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1251, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the empty purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves away from the wooden base after placing the green block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-right area of the black table."}, {"label": "goal", "start_step": 1276, "end_step": 1344, "id": "9cf7803b-8498-46d4-94ab-301daf11ad05"}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table, adjusting grip to be stable."}, {"label": "goal", "start_step": 1345, "end_step": 1494, "id": "c0b96e31-4434-4b0c-9311-1f4223facb71"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the short purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the short purple peg on the wooden base, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black table surface."}, {"label": "goal", "start_step": 1495, "end_step": 1590, "id": "71448131-a84b-4aed-af7d-457048054392"}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1591, "end_step": 1737, "id": "67c3ebc4-8e23-46a0-997d-824c363bd0bb"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylinder placed on the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upwards away from the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1738, "end_step": 1788, "id": "89c1f3aa-717a-4c63-ac63-33150da28b22"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1789, "end_step": 1926, "id": "f7194760-8ed8-46b7-9f9e-0559dfffdbb5"}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod until it is supported by the underlying block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the purple rod."}, {"label": "goal", "start_step": 1927, "end_step": 2010, "id": "5c999ba1-8f6a-4321-b85c-761ccb58cd2e"}, {"label": "subtasks", "start_step": 1942, "end_step": 1964, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the green cubic block on the right area of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the table."}, {"label": "goal", "start_step": 2011, "end_step": 2241, "id": "5652a34b-6cac-49a0-8bf9-5de5434b8f28"}, {"label": "subtasks", "start_step": 2025, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the wooden tray with white blocks."}, {"label": "subtasks", "start_step": 2085, "end_step": 2234, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the green ring onto the white block with the purple top on the wooden tray, adjusting its position to fit."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the green ring after placing it onto the target block."}, {"label": "home", "start_step": 2274, "end_step": 2297, "id": "V0w-NJPDOF9R6bKyOowXU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand adjusts its posture with slight wrist rotation and finger extension. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the top green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches the green hexagonal block and closes fingers to form a grasp on it."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the purple rod on 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 operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple rod and inserts it onto the top of the rod."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the green block down along the purple rod until it reaches the bottom of the rod."}, {"label": "subtasks", "start_step": 352, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens fingers to release the green block on the rod."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate_release: Right hand mates the white block onto the purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: 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": 488, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 705, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden stacking base and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 929, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the white hexagonal block to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the purple rod."}, {"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 operation area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table."}, 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"start_step": 1252, "end_step": 1274, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand moves away from the wooden base after placing the green block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the front-right area of the black table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table, adjusting grip to be stable."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand carries the white hexagonal block toward the short purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1477, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand places the white hexagonal block onto the short purple peg on the wooden base, lowering it until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hexagonal block, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1611, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand contacts the white cylindrical block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand releases the white hollow cylinder placed on the purple rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats upwards away from the purple rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical 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+            "names": [
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+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v3.0/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
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+    },
+    "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": {
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+  },
+  "state": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
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+    },
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+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v3.0/meta/stats.json b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5901b94b4226d3d109e59aa216976e6475243f8
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_07_01_13_41_34_train/lerobot_v3.0/meta/stats.json
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